CN109781095B - Method for predicting motion trail of underwater vehicle based on pressure distribution - Google Patents
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Abstract
The invention relates to a method for predicting a motion trail of an underwater vehicle based on pressure distribution, belonging to the technical field of ship and underwater vehicle engineering and underwater vehicle motion trail estimation. The method is based on an underwater vehicle test, pressure measuring points are arranged on the surface of the vehicle, pressure data of the pressure measuring points on the surface of the vehicle are obtained through the test, and the motion rule and the track of the underwater vehicle are finally obtained through further research and calculation based on the data. The invention can provide scientific basis for the technologies of attitude control, motion mode control and the like of the underwater vehicle and provide technical support for the pressure measuring point arrangement scheme of the developed underwater vehicle test.
Description
Technical Field
The invention relates to a method for predicting a motion trail of an underwater vehicle based on pressure distribution, belonging to the technical field of ship and underwater vehicle engineering and underwater vehicle motion trail estimation.
Background
With the development of modern ocean engineering and shipbuilding industry, the navigation safety of underwater vehicles has been more and more generally concerned and emphasized, wherein the prediction of the motion trail of the underwater vehicle is one of the important points of concern. The motion track of the navigation body is restricted by the complex underwater environment, so that the water outlet position, the motion area and the like of the navigation body are changed, and a decision maker is difficult to control. Therefore, the method for predicting the motion trail of the underwater vehicle is a brand new technical problem and has more practical engineering value and scientific significance.
Since the 80's in the 20 world, with the development of computer equipment and the advancement of computing technology, the development of computational fluid dynamics has further pushed the research on underwater vehicle problems. From traditional experimental research, students turn to a research mode combining numerical values and experiments, and mainly research the aspects of the drag reduction characteristics of the navigation body, the mechanical properties of the navigation body and the like. For the research on the prediction of the motion track of the underwater vehicle, a scholars proposes to estimate the track according to the factors of sea waves and ocean currents. However, the method for estimating the motion trail of the navigation body according to the external change rule is not strict, on one hand, the method heavily researches the change rule of the water body and ignores the influence on the navigation body; on the other hand, the method only considers the influence factors of sea waves and ocean currents, and ignores other restriction conditions generated by the complex ocean environment.
Disclosure of Invention
The invention aims to provide a method for predicting the motion trail of an underwater vehicle based on pressure distribution, which can realize the prediction of the motion trail of the underwater vehicle and further solve the problem of the prediction of the motion trail of the underwater vehicle.
The purpose of the invention is realized by the following technical scheme.
A method for predicting a motion track of an underwater vehicle based on pressure distribution specifically comprises the following steps:
step one, arranging pressure measuring points on the surface of an aeronautical body;
the pressure measurement points are shown in table 1;
step two, acquiring pressure data P of the pressure measuring points of the upstream surface and the downstream surface of the navigation body in the direction of a relative coordinate system x' in the step oneaiAnd Pbi；
Step three, according to the pressure data of the upstream surface and the back surface of the navigation body in the step two, calculating the pressure difference delta P of the pressure measuring point data of the upstream surface and the back surface of the navigation body by using a formula (1)x’i(ii) a Carrying out differential pressure surface integral on the measuring points by using a formula (2), and then calculating to obtain the resultant force F of the measuring points in the direction of a relative coordinate system xx’iFinally, the resultant force of each measuring point in the direction of the relative coordinate system x' is summed by using a formula (3) to obtain the resultant force F of the navigation body in the direction of the relative coordinate system xti；
ΔPx,i＝Pai-Pbi(1)
Fx,i＝0.6ΔPx,iΔSx,(2)
Wherein the constant 0.6 is the pressure integral correction coefficient, Delta Sx’Is the cross-sectional area of the navigation body.
Fourthly, based on the absolute coordinate system, according to the surface resultant force F of the sailing body obtained in the third steptiCombining the rotary inertia J of the navigation body in the formula (4) and the torque M of the navigation body in the formula (5), the angular acceleration alpha of the navigation body is calculated by using the formula (6)i；
Wherein m is the navigation body mass, l is the navigation body length, diThe distance between the pressure measuring point and the centroid is shown.
Step five, obtaining the angular acceleration alpha through the step fouriObtaining the relative deflection angle delta theta of the navigation body by using the formula (7)iThe absolute deflection angle theta can be calculated by combining the relative deflection angle and using the formula (8)iThe absolute deflection angle is the sum of the relative deflection angle at the moment and the absolute deflection angle at the last moment;
Δθi＝αiΔt2(7)
θi＝Δθi+θi-1(8)
where Δ t is the navigation body calculation time step, θi-1Is the absolute deflection angle of the vehicle at a moment.
Step six, forecasting the speed of the navigation body at the next moment by combining the absolute deflection angle of the navigation body obtained in the step five through the initial speeds of the absolute coordinate system of the navigation body along the y direction and the x direction and by using a formula (9) and a formula (10);
wherein v isx(ti)And vy(ti)Respectively the last moment speed of the navigation body.
Step seven: integrating the speed of the navigation body predicted in the sixth step in time by using a formula (11) and a formula (12) to obtain the relative displacement of the navigation body in the time step and the absolute displacement of the navigation body in the last moment
Adding up to obtain the absolute displacement of the predicted time of the navigation body
Repeating the fifth step to the seventh step, and carrying out time iteration on the deflection angle and the speed of the navigation body to obtain the displacement of the next moment;
step eight: and fitting the motion trail of the navigation body according to the displacement obtained by the navigation body in the step seven, namely realizing the prediction of the motion trail of the navigation body.
TABLE 1 arrangement of pressure measuring point combinations of a navigation body
Advantageous effects
1. According to the method for predicting the motion trail of the underwater vehicle based on the pressure distribution, the mechanical properties of the vehicle are fully considered, and the prediction accuracy is improved;
2. the method for predicting the motion trail of the underwater vehicle based on the pressure distribution can provide an arrangement scheme for the arrangement of pressure measuring points in a subsequent underwater vehicle test, and saves the test cost and time;
drawings
FIG. 1 is a flow chart of a calculation method for predicting a motion trajectory of an underwater vehicle based on pressure distribution according to the present invention;
FIG. 2 is a schematic diagram of a navigation body coordinate system, upstream surface and downstream surface pressure measurement point distribution and related dimensions;
FIG. 3 is a graph of the variation of the upstream surface pressure of the vehicle in case 2;
FIG. 4 is a graph of the variation of the pressure of the back surface of the vehicle in case 2;
FIG. 5 is a graph showing the variation of the pressure difference between the upstream surface and the downstream surface of the vehicle in the case of the scheme 2;
FIG. 6 is a graph showing the resultant force variation of the surface measurement points of the sailing body in the embodiment 2;
FIG. 7 is a graph of variation of angular acceleration of the sailing body according to scheme 2;
FIG. 8 is a graph of absolute yaw angle change for a solution 2 vehicle;
FIG. 9 is a graph of variation in speed of vehicle movement for scenario 2;
FIG. 10 is a diagram comparing the prediction and experiment of the motion trail of the navigation body in the scheme 2;
FIG. 11 is a diagram of the prediction and experimental comparison of the trajectory of the vehicle in case 10;
fig. 12 is a diagram for comparing the prediction and experiment of the motion trail of the navigation body with 13 schemes.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
Example 1
The navigation body is positioned in a 5-level wave water body environment with the water depth of 20m, the initial speeds in the x direction and the y direction are respectively 2m/s and 20m/s, and the adopted pressure measuring point arrangement scheme is scheme 2.
A specific flow of a calculation method for predicting a motion trajectory of an underwater vehicle based on pressure distribution is mainly realized by the following steps as shown in FIG. 1:
the method comprises the following steps: arranging a surface pressure measuring point of the navigation body;
based on an underwater vehicle test, pressure measuring points are arranged on the surface of a vehicle, the number of single-side pressure measuring points of the vehicle is 52, the numbers are gradually increased from the head to the tail, the numbers of the pressure measuring points on the upstream surface and the downstream surface are the same, and the total number of the measuring points is 102, as shown in FIG. 2; the distribution scheme of the combination of the pressure measuring points of the navigation body is shown in the table 1;
step two: acquiring surface pressure measuring point data of a navigation body;
establishing a relative coordinate system and an absolute coordinate system of the navigation body, as shown in fig. 2; acquiring pressure data of a pressure measuring point on the surface of a navigation body relative to the upstream surface and the back flow surface in the x' direction of a coordinate system, wherein the pressure data are PaiAnd PbiAs shown in fig. 3 and 4;
step three: calculating the surface measuring point resultant force of the sailing body;
according to the pressure data of the upstream surface and the back surface of the navigation body in the step two, the pressure difference delta P of the pressure measuring point data of the upstream surface and the back surface of the navigation body is obtained by using the formula (1)x’iAs shown in fig. 5; carrying out differential pressure surface integral on the measuring points by using a formula (2), and then calculating to obtain the resultant force F of the measuring points in the direction of a relative coordinate system xx’i(ii) a Finally, the resultant force of each measuring point in the direction of the relative coordinate system x' is summed by using a formula (3) to obtain the resultant force F of the navigation body in the direction of the relative coordinate system xtiAs shown in fig. 6;
ΔPx,i＝Pai-Pbi(1)
Fx,i＝0.6ΔPx,iΔSx,(2)
wherein the constant 0.6 is the integral correction of pressurePositive coefficient, Δ Sx’Is the cross-sectional area of the navigation body.
Step four: calculating the angular acceleration of the navigation body;
based on the absolute coordinate system, according to the surface resultant force F of the sailing body in the third steptiCombining the rotary inertia J of the navigation body in the formula (4) and the torque M of the navigation body in the formula (5), the angular acceleration alpha of the navigation body is calculated by using the formula (6)iAs shown in fig. 7;
wherein m is the navigation body mass, l is the navigation body length, diThe distance between the pressure measuring point and the centroid is shown.
Step five: calculating the absolute deflection angle of the navigation body;
angular acceleration alpha obtained by the fourth stepiObtaining the relative deflection angle delta theta of the navigation body by using the formula (7)iThe absolute deflection angle theta can be calculated by combining the relative deflection angle and using the formula (8)iAs shown in fig. 8, the absolute deflection angle is the sum of the relative deflection angle at the present moment and the absolute deflection angle at the previous moment;
Δθi＝αiΔt2(7)
θi＝Δθi+θi-1(8)
step six: calculating the movement speed of the navigation body;
knowing that the initial speeds of the absolute coordinate system of the navigation body along the y direction and the x direction are 20m/s and 2m/s respectively, predicting the speed of the navigation body at the next moment by using a formula (9) and a formula (10) in combination with the absolute deflection angle of the navigation body obtained in the step five, and showing in fig. 9;
wherein v isx(ti)And vy(ti)Respectively the last moment speed of the navigation body.
Step seven: calculating the displacement of the navigation body;
integrating the speed of the navigation body obtained in the step six in time by using a formula (11) and a formula (12), so as to obtain the relative displacement of the navigation body in the time step and the absolute displacement of the navigation body in the last moment
Adding up to obtain the absolute displacement of the navigation body at the moment
Repeating the fifth step to the seventh step, and carrying out time iteration on the deflection angle and the speed of the navigation body to obtain the displacement of the next moment;
step eight: calculating the motion trail of the navigation body;
and according to the displacement of the navigation body in the sixth step, fitting to obtain a motion track of the navigation body, namely realizing the prediction of the motion track of the navigation body, as shown in fig. 10.
Example 2
The navigation body is positioned in a 5-level wave water body environment with the water depth of 20m, the initial speeds in the x direction and the y direction are respectively 2m/s and 20m/s, and the scheme of the arrangement scheme of the pressure measuring points is a scheme 10.
The specific flow of the calculation method for predicting the motion trail of the underwater vehicle based on the pressure distribution is consistent with that of case 1, and the predicted motion trail is shown in fig. 11.
Based on the pressure measuring point combination arrangement scheme of the table 1, the motion trail prediction of 13 groups of schemes is given, as shown in fig. 12. The deviation error of the combined distribution of the 13 pressure measuring points in the table 1 is given in the table 2 by taking the distance measurement 1m at the position of 20m of the water surface as the judgment standard of the deviation error.
Deviation error of distribution scheme of 213 pressure measuring points in table
The above description is only for the purpose of illustrating the present invention, and modifications and equivalents thereof may be made by those skilled in the art. All changes, equivalents, modifications and the like which come within the spirit and principle of the invention are desired to be protected.
Claims (1)
1. A method for predicting the motion trail of an underwater vehicle based on pressure distribution is characterized by comprising the following steps: the method comprises the following specific steps:
step one, arranging pressure measuring points on the surface of an aeronautical body;
step two, acquiring pressure data P of the pressure measuring points of the upstream surface and the downstream surface of the navigation body in the direction of a relative coordinate system x' in the step oneaiAnd Pbi；
Step three, according to the pressure data of the upstream surface and the back surface of the navigation body in the step two, calculating the pressure difference delta P of the pressure measuring point data of the upstream surface and the back surface of the navigation body by using a formula (1)x’i(ii) a Carrying out differential pressure surface integral on the measuring points by using a formula (2), and then calculating to obtain the resultant force F of the measuring points in the direction of a relative coordinate system xx’iFinally, the resultant force of each measuring point in the direction of the relative coordinate system x' is summed by using a formula (3) to obtain the resultant force F of the navigation body in the direction of the relative coordinate system xti；
ΔPx,i＝Pai-Pbi(1)
Fx’i＝0.6ΔPx’iΔSx’(2)
Wherein the constant 0.6 is the pressure integral correction coefficient, Delta Sx’Is the cross-sectional area of the navigation body;
fourthly, based on the absolute coordinate system, according to the surface resultant force F of the sailing body obtained in the third steptiCombining the rotary inertia J of the navigation body in the formula (4) and the torque M of the navigation body in the formula (5), the angular acceleration alpha of the navigation body is calculated by using the formula (6)i；
Wherein m is the navigation body mass, l is the navigation body length, diThe distance between the pressure measuring point and the centroid is taken as the distance;
step five, obtaining the angular acceleration alpha through the step fouriObtaining the relative deflection angle delta theta of the navigation body by using the formula (7)iThe absolute deflection angle theta can be calculated by combining the relative deflection angle and using the formula (8)iThe absolute deflection angle is the sum of the relative deflection angle at the moment and the absolute deflection angle at the last moment;
Δθi＝αiΔt2(7)
θi＝Δθi+θi-1(8)
where Δ t is the navigation body calculation time step, θi-1The absolute deflection angle of the navigation body at the last moment;
step six, forecasting the speed of the navigation body at the next moment by combining the absolute deflection angle of the navigation body obtained in the step five through the initial speeds of the absolute coordinate system of the navigation body along the y direction and the x direction and by using a formula (9) and a formula (10);
wherein v isx(ti)And vy(ti)Respectively the speed of the navigation body at the last moment;
step seven: integrating the speed of the navigation body predicted in the sixth step in time by using a formula (11) and a formula (12) to obtain the relative displacement of the navigation body in the time step and the absolute displacement of the navigation body in the last moment
Adding up to obtain the absolute displacement of the predicted time of the navigation body
Repeating the fifth step to the seventh step, and carrying out time iteration on the deflection angle and the speed of the navigation body to obtain the displacement of the next moment;
step eight: and fitting the motion trail of the navigation body according to the displacement obtained by the navigation body in the step seven, namely realizing the prediction of the motion trail of the navigation body.
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