CN110851917A - Method for forecasting longitudinal maneuverability of stable towing of underwater vehicle - Google Patents

Method for forecasting longitudinal maneuverability of stable towing of underwater vehicle Download PDF

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CN110851917A
CN110851917A CN201911069211.XA CN201911069211A CN110851917A CN 110851917 A CN110851917 A CN 110851917A CN 201911069211 A CN201911069211 A CN 201911069211A CN 110851917 A CN110851917 A CN 110851917A
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underwater vehicle
towing
towing cable
underwater
solving
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杨智栋
温志文
田树红
林小川
李日朝
沙琪
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705 Research Institute Of China Shipbuilding Heavy Industry Group Corp
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Abstract

The invention relates to a method for forecasting the longitudinal maneuverability of a stable towing of an underwater vehicle, which aims at the problem of forecasting the longitudinal maneuverability of the underwater vehicle when a towing system consisting of the underwater vehicle, a towing cable and a towing body is stably navigated, supplements the maneuverability model of the existing underwater vehicle, adds a flexible towing cable model, namely the underwater vehicle and the towing body adopt rigid six-degree-of-freedom dynamic models, adopts a centralized quality model for a flexible towing cable, adopts the idea of reverse solution of the towing body, namely the stress at the towing body is solved firstly, and then carries out space integral solution along the flexible towing cable by using a Runge-Kutta method to obtain the stress at the underwater vehicle, and then can obtain the balanced attack angle and the balanced rudder angle of the towed underwater vehicle.

Description

Method for forecasting longitudinal maneuverability of stable towing of underwater vehicle
Technical Field
The invention belongs to the technical field of underwater navigation, and relates to a longitudinal maneuverability calculation method for forecasting a stable navigation state of a flexible cable towed by an underwater navigation body, in particular to a calculation and forecast of a balance attack angle and a balance rudder angle for calculating the stable navigation state of the flexible cable towed by the underwater navigation body.
Background
The maneuverability of an underwater vehicle refers to the performance of changing or maintaining the motion attitude, the navigation depth and the heading by means of a steering mechanism. Whether used for underwater weapons, in order to ensure stable navigation underwater and search for targets, find targets, guide targets and finally finish the task of destroying the targets according to a preset program; or as an underwater vehicle, in order to ensure that the underwater vehicle can stably navigate underwater and complete underwater vehicle tasks according to a predetermined path, the underwater vehicle needs to have good maneuverability. Therefore, the maneuverability analysis research on the underwater navigation body is an indispensable key technology.
At present, scholars at home and abroad establish an underwater navigation body maneuverability model aiming at different hydrodynamic characteristics according to the rigid body dynamics principle, but can only forecast the maneuverability of a single navigation body (rigid body), and when a forecast object relates to a towing system consisting of the navigation body, a flexible towing cable and a towing body, the navigation performance of stable navigation of the flexible towing cable towed by the underwater navigation body is difficult to forecast due to the lack of the dynamics model of the flexible towing cable.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a longitudinal maneuverability calculation method suitable for forecasting the stable sailing state of a flexible cable dragged by an underwater navigation body.
Technical scheme
A method for forecasting longitudinal maneuverability of a stable towing of an underwater vehicle is characterized by comprising the following steps:
step 1: solving the stress T at the e point at the tail end of the towing cableeAnd the force direction angle phie: according to the negative buoyancy delta G of the towed bodyeAnd is subject to fluid power FeSolving T according to the balance force relatione' and phie，TeAnd Te' is a pair of acting force and reactionForce, i.e. TeAnd Te' absolute values are equal;
step 2: solving stress magnitude T at head end o point of towing cableoAnd the force direction angle phio: with force T applied at e-point at the end of the towing cableeAnd the force direction angle phieAs an initial value point, a four-stage fourth-order Runge-Kutta method is applied to a differential dynamics model formula (1) of the towing cable along a curveThe space integral is solved to obtain the stress T of the starting point o of the towing cableoAnd the force direction angle phio；
Figure BDA0002260405090000022
Wherein u ist、unCorresponding flow velocity components to the navigation speed of the towed body system relative to water flow in a cable micro-segment satellite coordinate system Atn;
t is towing cable tension;
ρ is the fluid density;
w is streamer negative buoyancy per unit length;
d is the streamer diameter;
Ctis the streamer tangential drag coefficient;
Cnis the streamer normal drag coefficient;
epsilon is a local elongation coefficient of the towing cable and can be obtained according to Hooke's law;
step 3, solving the balance attack angle of the underwater navigation body α0And a balanced rudder angle deltae0: will be stressed by a certain amount T0And the force direction angle phi0Satellite xBy coordinate system along a navigation body is decomposed into T0x、T0yCombining the underwater vehicle dynamic equation to obtain a formula (2), and solving a balance attack angle and a balance rudder angle of the underwater towed vehicle for stable navigation according to the formula (2);
Figure BDA0002260405090000023
wherein the content of the first and second substances,
Figure BDA0002260405090000024
the position derivative of the lift coefficient of the underwater vehicle to the attack angle is obtained;
Figure BDA0002260405090000031
the position derivative of the lift coefficient of the underwater vehicle to the horizontal rudder angle is obtained;
s is the maximum cross-sectional area of the underwater vehicle;
l is the characteristic length of the underwater vehicle;
delta G is the negative buoyancy of the underwater vehicle;
g is the gravity of the underwater vehicle;
Figure BDA0002260405090000032
the position derivative of the pitching moment coefficient of the underwater vehicle to the horizontal rudder angle is obtained;
Figure BDA0002260405090000033
the position derivative of the pitching moment coefficient of the underwater vehicle to the attack angle is obtained;
v is the speed of the underwater vehicle.
Advantageous effects
Aiming at the problem of forecasting the longitudinal maneuverability of an underwater vehicle when a towing system consisting of the underwater vehicle, a towing cable and a towing body is stably navigated, the conventional underwater vehicle maneuverability model is supplemented, a flexible towing cable model is added, namely, the underwater vehicle and the towing body adopt rigid six-degree-of-freedom dynamic models, the flexible towing cable adopts a centralized quality model, the thought of solving the towing body reversely is adopted, namely, the stress at the towing body is solved firstly, then the Runge-Kutta method is used for carrying out space integral solution along the flexible towing cable to obtain the stress at the underwater vehicle, and then the balance attack angle and the balance rudder angle of the towed underwater vehicle can be obtained, so that a design input is provided for a control system of the underwater vehicle.
Drawings
FIG. 1 schematic drawing of a towed underwater vehicle system
Wherein 1 is a navigation body; 2 is a towing cable; 3 is a mop body; xBy is a coordinate system of the navigation body, B is a floating center of the navigation body; tAn is a towline microsection coordinate system, At is the tangential direction along the towline microsection, and An is the towline microsection normal; point e is the connection point of the towing cable and the towing body; point o is the connection point of the towing cable and the navigation body; x is the number of0、y0The coordinates of point o along the Bx and By axes in the xBy coordinate system, respectively.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the method comprises the following steps: with reference to the attached figure 1, solving the stress magnitude T at the tail end e point of the towing cableeAnd the force direction angle phie. According to the negative buoyancy delta G of the towed bodyeAnd is subject to fluid power FeSolving T according to the balance force relatione' and phie，TeAnd Te' is a pair of force and reaction, i.e. TeAnd Te' absolute values are equal.
Step two: solving stress magnitude T at head end o point of towing cableoAnd the force direction angle phio. With force T applied at e-point at the end of the towing cableeAnd the force direction angle phieAs an initial value point, a four-stage fourth-order Runge-Kutta method is applied to a differential dynamics model formula (1) of the towing cable along a curve
Figure BDA0002260405090000043
The space integral is solved to obtain the stress T of the starting point o of the towing cableoAnd the force direction angle phio；
Figure BDA0002260405090000041
Wherein u ist、unCorresponding flow velocity components to the navigation speed of the towed body system relative to water flow in a cable micro-segment satellite coordinate system Atn;
t is towing cable tension;
ρ is the fluid density;
w is streamer negative buoyancy per unit length;
d is the streamer diameter;
Ctis the streamer tangential drag coefficient;
Cnis the streamer normal drag coefficient;
epsilon is the local elongation coefficient of the streamer and can be calculated according to Hooke's law.
Step three, solving the balance attack angle of the underwater navigation body α0And a balanced rudder angle deltae0. Will be stressed by a certain amount T0And the force direction angle phi0Decomposed into T along xBy coordinate system0x、T0yAnd (3) combining the underwater vehicle dynamic equation to obtain a formula (2), and solving a balance attack angle and a balance rudder angle of the underwater towed vehicle for stable navigation according to the formula (2).
Figure BDA0002260405090000042
Wherein the content of the first and second substances,
Figure BDA0002260405090000051
the position derivative of the lift coefficient of the underwater vehicle to the attack angle is obtained;
the position derivative of the lift coefficient of the underwater vehicle to the horizontal rudder angle is obtained;
s is the maximum cross-sectional area of the underwater vehicle;
l is the characteristic length of the underwater vehicle;
delta G is the negative buoyancy of the underwater vehicle;
g is the gravity of the underwater vehicle;
Figure BDA0002260405090000053
the position derivative of the pitching moment coefficient of the underwater vehicle to the horizontal rudder angle is obtained;
Figure BDA0002260405090000054
the position derivative of the pitching moment coefficient of the underwater vehicle to the attack angle is obtained;
v is the speed of the underwater vehicle.

Claims (1)

1. A method for forecasting longitudinal maneuverability of a stable towing of an underwater vehicle is characterized by comprising the following steps:
step 1: solving the stress T at the e point at the tail end of the towing cableeAnd the force direction angle phie: according to the negative buoyancy delta G of the towed bodyeAnd is subject to fluid power FeSolving T according to the balance force relatione' and phie，TeAnd Te' is a pair of force and reaction, i.e. TeAnd Te' absolute values are equal;
step 2: solving stress magnitude T at head end o point of towing cableoAnd the force direction angle phio: with force T applied at e-point at the end of the towing cableeAnd the force direction angle phieAs an initial value point, a four-stage fourth-order Runge-Kutta method is applied to a differential dynamics model formula (1) of the towing cable along a curve
Figure FDA0002260405080000011
The space integral is solved to obtain the stress T of the starting point o of the towing cableoAnd the force direction angle phio；
Figure FDA0002260405080000012
Wherein u ist、unCorresponding flow velocity components to the navigation speed of the towed body system relative to water flow in a cable micro-segment satellite coordinate system Atn;
t is towing cable tension;
ρ is the fluid density;
w is streamer negative buoyancy per unit length;
d is the streamer diameter;
Ctis the streamer tangential drag coefficient;
Cnis the streamer normal drag coefficient;
epsilon is a local elongation coefficient of the towing cable and can be obtained according to Hooke's law;
step 3, solving the balance attack angle of the underwater navigation body α0And a balanced rudder angle deltae0: will be stressed by a certain amount T0And the force direction angle phi0Satellite xBy coordinate system along a navigation body is decomposed into T0x、T0yCombining the underwater vehicle dynamic equation to obtain a formula (2), and solving a balance attack angle and a balance rudder angle of the underwater towed vehicle for stable navigation according to the formula (2);
Figure FDA0002260405080000021
wherein the content of the first and second substances,the position derivative of the lift coefficient of the underwater vehicle to the attack angle is obtained;
Figure FDA0002260405080000023
the position derivative of the lift coefficient of the underwater vehicle to the horizontal rudder angle is obtained;
s is the maximum cross-sectional area of the underwater vehicle;
l is the characteristic length of the underwater vehicle;
delta G is the negative buoyancy of the underwater vehicle;
g is the gravity of the underwater vehicle;
Figure FDA0002260405080000024
the position derivative of the pitching moment coefficient of the underwater vehicle to the horizontal rudder angle is obtained;
Figure FDA0002260405080000025
the position derivative of the pitching moment coefficient of the underwater vehicle to the attack angle is obtained;
v is the speed of the underwater vehicle.
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Publication number Priority date Publication date Assignee Title
CN115510562A (en) * 2022-09-30 2022-12-23 中国海洋大学 Depth prediction method of towed sensor array system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108761470A (en) * 2018-06-29 2018-11-06 中国船舶重工集团公司第七〇五研究所 A kind of object localization method based on the parsing of towing cable shape equation
CN109238621A (en) * 2018-08-16 2019-01-18 中国航天空气动力技术研究院 A kind of towed decoy kicks down poor appraisal procedure
CN110287535A (en) * 2019-05-24 2019-09-27 中国人民解放军海军工程大学 The emulated computation method of underwater towed system, motor imagination under high sea situation

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Publication number Priority date Publication date Assignee Title
CN108761470A (en) * 2018-06-29 2018-11-06 中国船舶重工集团公司第七〇五研究所 A kind of object localization method based on the parsing of towing cable shape equation
CN109238621A (en) * 2018-08-16 2019-01-18 中国航天空气动力技术研究院 A kind of towed decoy kicks down poor appraisal procedure
CN110287535A (en) * 2019-05-24 2019-09-27 中国人民解放军海军工程大学 The emulated computation method of underwater towed system, motor imagination under high sea situation

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115510562A (en) * 2022-09-30 2022-12-23 中国海洋大学 Depth prediction method of towed sensor array system
CN115510562B (en) * 2022-09-30 2023-10-24 中国海洋大学 Depth prediction method of towed sensor array system

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