CN113626933B - Fin stabilizer lift force coupling coefficient calculation method considering wake vortex influence - Google Patents

Fin stabilizer lift force coupling coefficient calculation method considering wake vortex influence Download PDF

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CN113626933B
CN113626933B CN202110923981.7A CN202110923981A CN113626933B CN 113626933 B CN113626933 B CN 113626933B CN 202110923981 A CN202110923981 A CN 202110923981A CN 113626933 B CN113626933 B CN 113626933B
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CN113626933A (en
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孙明晓
谢春旺
栾添添
马爽
王涵旭
张文玉
原张杰
胡占永
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Harbin University of Science and Technology
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Abstract

The invention relates to a fin stabilizer lift force coupling coefficient calculation method considering wake vortex influence, which comprises the steps of firstly abstracting fin stabilizer wake vortex interference side view schematic diagram, establishing a speed coordinate system, on the basis, enabling wake vortex falling off from a front fin and a first impact position of a rear fin to be equivalent to mass points, dividing the lift force interference of the front fin on the rear fin into positive interference lift force and negative interference lift force according to the position relation of the mass points and a fin body bisector, solving the total resultant speed through the interference speed, the relative incoming flow speed and the rolling direction at a fin pressure center, calculating interference fin angles, obtaining the positive interference lift force and the negative interference lift force by using the interference fin angles, knowing from karman vortex street phenomenon that when Reynolds number Re meets 250<Re<2×105And when the mode length of the interference speed in the y-axis partial speed is larger than the mode length of the linear speed in the rolling direction at the pressure center of the fin, the interference of the tail vortex on the rear fin is changed periodically, and the lift force coupling coefficient of the front fin and the rear fin is obtained, so that the influence degree of the tail vortex on the lift force of the rear fin is judged. The method has the advantages of high calculation precision, wide application range and easy realization.

Description

Fin stabilizer lift force coupling coefficient calculation method considering wake vortex influence
Technical Field
The invention relates to the field of ship motion control, in particular to the field of roll reduction influence of a ship with two pairs of stabilizer fins, and particularly relates to a method for calculating a lift force coupling coefficient of a stabilizer fin by considering wake vortex influence.
Background
When the ship sails on the sea, the ship is influenced by external interference factors such as sea waves and the like to generate multi-free motion, wherein the harm caused by rolling motion is the most serious, and the anti-rolling effect of the ship is greatly improved by assembling the anti-rolling fins. For a ship provided with two pairs of stabilizer fins, when the stabilizer fins work normally, the generated Reynolds number Re is larger, so that the tail vortex shedding phenomenon is easily generated on the front fins. In practical engineering application, the distance between the front fin and the rear fin and the area of the fin body are limited by external factors such as a ship body and the like, and cannot be increased or reduced at will, so that the wake vortex falling off from the front fin generally influences the hydrodynamic force of the rear fin. The rotation directions of the wake vortexes sequentially falling off from the front fins are opposite, so that the lift force of the rear fins is increased or reduced, and the system generates deviation on the control of the stabilizer fins. Therefore, how to solve the calculation error of the lifting force of the rear fin and improve the control precision of the fin stabilizer system on the premise of considering the coupling influence of the front fin and the rear fin becomes a difficult point to be solved urgently.
The method is characterized in that a study on two pairs of fin system optimization control methods, a study on fin stabilizer coupling coefficient calculation and stabilization simulation with two pairs of fins, an application study on fin stabilizers in ship roll and pitch control, and a study on fin-hull adaptability and low-speed control strategy, the proposed schemes can calculate the coupling coefficient of front and rear fins, improve the control precision of the fin stabilizer system to a certain extent, but do not analyze the real-time influence of the front fin tail vortex on the rear fin lift force, do not consider the interference of the tail vortex on the rear fin lift force when the tail vortex changes periodically, and do not modify the rear fin lift force formula under the influence of the front fin, the method of the invention enables the tail vortex falling off from the front fin and the rear fin to be equivalent to mass points, analyzes the real-time influence of the front fin tail vortex on the rear fin lift force according to the position relation of mass points and a fin body bisector, considers the interference of the tail vortex on the rear fin lift force when the tail vortex changes periodically, and solving a rear fin lift force formula under the influence of the front fin, and solving a front and rear fin lift force coupling coefficient on the basis, thereby judging the influence degree of the tail vortex generated by the front fin on the rear fin lift force.
Disclosure of Invention
The invention aims to provide a fin stabilizer lift force coupling coefficient calculation method considering wake vortex influence, which can correct a fin stabilizer lift force calculation error caused by coupling of a front fin and a rear fin, solves the fin stabilizer lift force coupling coefficient of the front fin and the rear fin aiming at the periodic wake vortex shedding phenomenon, and has important significance for improving the control precision of a fin stabilizer system.
In order to meet the requirement of the purpose, a fin stabilizer lift force coupling coefficient calculation method considering wake vortex influence is provided, and the fin stabilizer lift force coupling coefficient calculation method specifically comprises the following steps:
step 1: abstracting a schematic side view of fin wake vortex interference of the fin stabilizer, wherein the chord length of the fin stabilizer is d, the fin axis is equivalent to a point O, the front end close to the fin axis is equivalent to a point P, the rear end far away from the fin axis is equivalent to a point Q, a straight line PQ is a fin body bisector, the first impact position of the wake vortex falling off from the front fin and the rear fin is equivalent to a point A, and the relative incoming flow velocity is v0Linear velocity v in roll direction at center of fin pressurer；
Step 2: establishing a speed coordinate system on the fin wake vortex interference side view schematic diagram of the stabilizer, taking an O point as a coordinate origin, taking a horizontal rightward direction as an x-axis positive direction, taking a vertical upward direction as a y-axis positive direction, taking an included angle between a fin body and the x-axis positive direction as a fin angle as alpha, wherein alpha is less than 0 when a straight line OQ is positioned below the x-axis, and alpha is more than 0 when the straight line OQ is positioned above the x-axis;
and step 3: the wake vortex dropped from the front fin interferes with and moves the rear fin, the generated movement speed is recorded as interference speed v, and v < v0The included angle between v and the positive direction of the x axis is theta, and the component speeds of v on the x axis and the y axis are v respectivelyx0And vy0，vxIs v isx0And v0Resultant velocity in the x-axis, vyIs v isy0And vrResultant velocity in the y-axis, at which vxAnd vyRespectively as follows:
Figure BDA0003208490590000021
in the formula: v. ofx0Satisfies the equation vx0＝vcosθ，vy0Satisfies the equation vy0＝vsinθ；
And 4, step 4: v. ofxAnd vyHas a resultant velocity v1The interference fin angle β at this time is:
Figure BDA0003208490590000022
in the formula: interference fin angle beta represents v1The included angle is formed with the positive direction of the x axis;
and 5: when the wake vortex generated by the front fin reduces the lift force of the rear fin, the negative interference lift force generated by the single rear fin is recorded as Fb-When the wake vortex generated by the front fin increases the lift force of the rear fin, the positive interference lift force generated by the single rear fin is recorded as Fb+Generating Fb-There are two cases, one is that the wake vortex shedding by the skeg is clockwise, point a is above the straight line PQ, vy0＞vrAnd alpha is less than 0, in the second case, the trailing vortex falling off from the front fin rotates anticlockwise, point A is positioned below the straight line PQ, vy0＞vrAnd alpha > 0, F is produced in both casesb-In addition to the above two cases, the lift force generated by the rear fin is Fb+Generation of Fb+And Fb-All can be obtained by the interference fin angle;
step 6: as known from the Karman vortex street phenomenon, when the Reynolds number Re satisfies 250 < Re < 2X 105And v isy0＞vrWhen water flows through the front fins, the wake vortexes with opposite rotation directions sequentially fall off, the interference of the wake vortexes on the lift force of the rear fins is changed periodically, the interference of the front fins in the first half period enables the lift force of the rear fins to be increased, the interference of the front fins in the second half period enables the lift force of the rear fins to be reduced, and the interference lift force F generated by a single rear fin at the momentbComprises the following steps:
Figure BDA0003208490590000031
in the formula: rho is the density of the seawater, S is the area of the fin body,
Figure BDA0003208490590000032
in relation to the fin shape and mounting position, alpha, for the coefficient of lifte+Effective positive fin angle and satisfies alphae+＝|α|+β，αe-Is an effective negative fin angle and satisfies alphae-T is the shedding period of the wake vortex and satisfies
Figure BDA0003208490590000033
And 7: lift force generated by single front fin is FaAnd satisfy
Figure BDA0003208490590000034
At this time, the lift force coupling coefficient of the front fin and the rear fin is as follows:
Figure BDA0003208490590000035
in the formula: and lambda is a lift coupling coefficient of the front fin and the rear fin and represents the influence degree of wake vortexes generated by the front fin on the lift of the rear fin.
The invention has the following beneficial effects:
1. the fin stabilizer lift force coupling coefficient calculation method considering the wake vortex influence is high in calculation precision, wide in application range and easy to achieve.
2. According to the method, only the relation between the equivalent point of the falling wake vortex of the front fin and the first impact position of the rear fin, the vertical component of the interference speed and the linear speed of the rolling direction at the pressure center of the fin needs to be analyzed, so that the positive and negative interference lift force generated by the wake vortex on the rear fin can be solved, and the complexity of directly solving the lift force of the rear fin is avoided.
3. Aiming at the periodic wake vortex shedding phenomenon, the method of the invention is adopted to solve the lift force coupling coefficient of the front fin and the rear fin, and the influence degree of the wake vortex shedding by the front fin on the rear fin can be directly determined through the lift force coupling coefficient of the front fin and the rear fin.
4. By the method, the chord length of the stabilizer fin is 2.94m, and the area of the fin body is 3.59m2The relative incoming flow velocity is 9.26m/s, the linear velocity in the rolling direction at the center of the fin pressure is 0.75m/s, the interference velocity is 2.96m/s, the lift coefficient is 0.78, the fin angle is-10 degrees, the included angle between the interference velocity and the positive direction of the x axis is 30 degrees, and the Reynolds number Re is 1 multiplied by 105At this time, the wake vortex generated by the front fin is changed periodically, the shedding period of the wake vortex is calculated to be 0.28s, the lift force of the rear fin is increased by 41.35% due to the interference of the front fin in the first half period, and the lift force of the rear fin is reduced by 55.78% due to the interference of the front fin in the second half period.
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Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a process diagram of a fin stabilizer lift coupling coefficient calculation method considering wake vortex influence;
FIG. 2 is a schematic diagram of the disturbance to the aft fin caused by wake vortex shedding from the fore fin;
FIG. 3 is a side view analysis of the positive disturbance lift generated to the aft fin when the wake vortex of the fore fin is shed;
fig. 4 is a side view analysis diagram of the negative interference lift generated on the rear fin when the wake vortex of the front fin falls off.
In the figure: o is a fin shaft equivalent point, A is an equivalent point of a first impact position of a wake vortex falling off by the front fin and the rear fin, P is a front end equivalent point close to the fin shaft side, and Q is a rear end equivalent point far away from the fin shaft side.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
As shown in fig. 1, a schematic process diagram of a fin stabilizer lift coupling coefficient calculation method considering wake vortex influence. Firstly, the wake vortex interference of the stabilizer fin is abstractedA schematic side view; on the basis, a speed coordinate system is established, and the disturbance speed v and the relative inflow speed v are utilized0And the linear velocity v of the rolling direction at the center of the fin pressurerCalculating the resultant speed in the x-axis direction and the resultant speed in the y-axis direction; secondly, solving an interference fin angle through the resultant speed in the x-axis direction and the resultant speed in the y-axis direction; then, distinguishing the conditions of generating positive interference lift force and negative interference lift force, analyzing to obtain the periodic positive interference lift force and the periodic negative interference lift force of a single rear fin, and solving according to the interference fin angle; and finally, solving a lift force coupling coefficient formula of the front fin and the rear fin through the periodic positive and negative interference lift forces of the single rear fin, and judging the influence degree of wake vortexes generated by the front fin on the lift force of the rear fin.
As shown in fig. 2, the front fin wake vortex shedding will cause interference with the back fin. In the graph, the relative incoming flow speed direction is horizontal to the right, the flow speed and the direction of the fluid are changed after the fluid passes through the front fin, in practical engineering application, the Reynolds number generated by the fluid is generally large, the front fin can sequentially fall off wake vortexes with opposite rotation directions, namely the clockwise wake vortexes and the anticlockwise wake vortexes which fall off in the graph, the generated wake vortexes can change the expected lift force of the rear fin, and therefore the control accuracy of the fin stabilizer system is reduced.
As shown in fig. 3 and 4, the diagrams are a side view analysis diagram of the positive interference lift force generated on the rear fin when the wake vortex of the front fin falls off and a side view analysis diagram of the negative interference lift force generated on the rear fin when the wake vortex of the front fin falls off. Fig. 3 shows the case where the wake vortex shedding from the front fin increases the lift force of the rear fin, and fig. 4 shows the case where the wake vortex shedding from the front fin decreases the lift force of the rear fin.
In fig. 3 and 4, O is a fin axis equivalent point, a is an equivalent point of a first impact point between a wake vortex shed by the front fin and the rear fin, P is a front end equivalent point close to the fin axis side, Q is a rear end equivalent point far from the fin axis side, d is a stabilizer chord length, v is a stabilizer chord length, and0is the relative incoming flow velocity, vrThe linear velocity of the fin in the rolling direction at the pressure center of the fin, the wake vortex falling off from the front fin generates interference on the rear fin and enables the rear fin to move, the generated movement velocity is recorded as interference velocity v, the included angle between the interference velocity v and the positive direction of the x axis is theta, the included angle between the fin body and the positive direction of the x axis is fin angle alpha, alpha is less than 0 when the straight line OQ is positioned below the x axis, and alpha is less than 0 when the straight line OQ is positioned on the x axisWhen the component velocity of alpha is more than 0, the component velocity of v on the x axis and the y axis is v respectivelyx0And vy0，vx0And vrThe resultant velocity in the x-axis is vx，vy0And v0The resultant velocity in the y-axis is vy，vxAnd vyHas a resultant velocity v1，v1The angle from the positive x-axis is denoted as the interference fin angle β.
A method for calculating a lift coupling coefficient of a fin stabilizer considering wake vortex influence is disclosed, wherein a process schematic diagram of the method is shown in FIG. 1, and the method specifically comprises the following steps:
step 1: the schematic side view of fin wake vortex interference of the fin stabilizer is abstracted, and as can be known from fig. 3, the chord length of the fin stabilizer is d, the fin axis is equivalent to a point O, the front end close to the fin axis is equivalent to a point P, the rear end far away from the fin axis is equivalent to a point Q, the straight line PQ is a fin body bisector, the schematic diagram of interference generated on the rear fin when the wake vortex of the front fin falls off is shown in fig. 2, the wake vortex falling off from the front fin is equivalent to a point a at the first impact position of the rear fin, and the relative incoming flow velocity is v0Linear velocity v in roll direction at center of fin pressurer；
Step 2: a speed coordinate system is established on the fin wake vortex interference side view schematic diagram of the stabilizer, and as can be known by combining fig. 3, a point O is taken as a coordinate origin, a horizontal rightward direction is taken as an x-axis positive direction, a vertical upward direction is taken as a y-axis positive direction, an included angle between a fin body and the x-axis positive direction is a fin angle and is marked as alpha, alpha is less than 0 when a straight line OQ is positioned below the x-axis, and alpha is greater than 0 when the straight line OQ is positioned above the x-axis;
and step 3: the wake vortex dropped from the front fin interferes with and moves the rear fin, the generated movement speed is recorded as interference speed v, and v < v0The schematic diagram of the interference of the tail vortex to the rear fin is shown in fig. 2, and it can be known from fig. 3 that the included angle between v and the positive direction of the x-axis is θ, and the component velocities of v on the x-axis and the y-axis are v respectivelyx0And vy0，vxIs v isx0And v0Resultant velocity in the x-axis, vyIs v isy0And vrResultant velocity in the y-axis, at which vxAnd vyRespectively as follows:
Figure BDA0003208490590000061
in the formula: v. ofx0Satisfies the equation vx0＝vcosθ，vy0Satisfies the equation vy0＝vsinθ；
And 4, step 4: as can be seen in FIG. 3, vxAnd vyHas a resultant velocity v1The interference fin angle β at this time is:
Figure BDA0003208490590000062
in the formula: interference fin angle beta represents v1The included angle is formed with the positive direction of the x axis;
and 5: when the wake vortex generated by the front fin reduces the lift force of the rear fin, the negative interference lift force generated by the single rear fin is Fb-When the wake vortex generated by the front fin increases the lift force of the rear fin, the positive interference lift force generated by the single rear fin is Fb+F is generated when the wake vortex generated by the front fin does not exhibit periodic variationb-There are two cases, one is that the wake vortex shedding by the skeg is clockwise, point a is above the straight line PQ, vy0＞vrAnd alpha is less than 0, in the second case, the trailing vortex falling off from the front fin rotates anticlockwise, point A is positioned below the straight line PQ, vy0＞vrAnd alpha > 0, F is produced in both casesb-In addition to the above two cases, the lift force generated by the rear fin is Fb+Generation of Fb+And Fb-All the positive interference lift force generated by a single rear fin can be obtained through the interference fin angle, a side view analysis chart is shown in fig. 3, fig. 3 is one condition of the positive interference lift force, a side view analysis chart is shown in fig. 4, and fig. 4 is one condition of the negative interference lift force;
step 6: as known from the Karman vortex street phenomenon, when the Reynolds number Re satisfies 250 < Re < 2X 105And v isy0＞vrThe water flow sequentially drops the wake vortexes with opposite rotation directions after passing through the front fins, the interference of the wake vortexes on the lift force of the rear fins is changed periodically, the interference of the front fins in the first half period increases the lift force of the rear fins, and the interference of the front fins in the second half period increases the lift force of the rear finsThe interference of the fins reduces the lift force of the rear fins, and the interference lift force F generated by the single rear finsbComprises the following steps:
Figure BDA0003208490590000071
in the formula: rho is the density of the seawater, S is the area of the fin body,
Figure BDA0003208490590000072
in relation to the fin shape and mounting position, alpha, for the coefficient of lifte+Effective positive fin angle and satisfies alphae+＝|α|+β，αe-Is an effective negative fin angle and satisfies alphae-T is the shedding period of the wake vortex and satisfies
Figure BDA0003208490590000073
And 7: lift force generated by single front fin is FaAnd satisfy
Figure BDA0003208490590000074
At this time, the lift force coupling coefficient of the front fin and the rear fin is as follows:
Figure BDA0003208490590000075
in the formula: and lambda is a lift coupling coefficient of the front fin and the rear fin and represents the influence degree of wake vortexes generated by the front fin on the lift of the rear fin.
In addition, in order to further explain the technical solution of the method of the present invention, an exemplary parameter of the fin stabilizer is described with reference to fig. 3 and 4, where the specific parameter is: the density rho of the seawater is 1000kg/m3The chord length d is 2.94m, and S is 3.59m2，v0Is 9.26m/s, vr0.75m/s, v 2.96m/s,
Figure BDA0003208490590000076
is 0.78, alpha is-10 DEG, theta is 30 DEG, Reynolds number Re is 1X 105。
Obtaining F from the above parametersaIs 3.07 x 104N, it can be seen from the method of the present invention that the wake vortex generated at this time is periodically changed, so T is 0.28s, the interference effect of the wake vortex on the rear fin is opposite (promotion or suppression) every other half period, and when the interference of the wake vortex dropped off from the front fin on the rear fin is as shown in fig. 3, F isb+＝4.33×104N, λ is 0.4135, so interference of the anterior fin increases the posterior fin lift by 41.35%; when the interference of the wake vortex dropped from the front fin on the rear fin is shown in fig. 4, Fb-＝1.36×104N, λ -0.5578, the interference of the anterior fin reduces the posterior fin lift by 55.78%.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (1)

1. A fin stabilizer lift force coupling coefficient calculation method considering wake vortex influence is characterized by specifically comprising the following steps of:
step 1: abstracting a schematic side view of fin wake vortex interference of the fin stabilizer, wherein the chord length of the fin stabilizer is d, the fin axis is equivalent to a point O, the front end close to the fin axis is equivalent to a point P, the rear end far away from the fin axis is equivalent to a point Q, a straight line PQ is a fin body bisector, the first impact position of the wake vortex falling off from the front fin and the rear fin is equivalent to a point A, and the relative incoming flow velocity is v0Linear velocity v in roll direction at center of fin pressurer；
Step 2: establishing a speed coordinate system on the fin wake vortex interference side view schematic diagram of the stabilizer, taking an O point as a coordinate origin, taking a horizontal rightward direction as an x-axis positive direction, taking a vertical upward direction as a y-axis positive direction, taking an included angle between a fin body and the x-axis positive direction as a fin angle as alpha, wherein alpha is less than 0 when a straight line OQ is positioned below the x-axis, and alpha is more than 0 when the straight line OQ is positioned above the x-axis;
and step 3: the wake vortex dropped from the front fin interferes with and moves the rear fin, the generated movement speed is recorded as interference speed v, and v < v0The included angle between v and the positive direction of the x axis is theta, and the component speeds of v on the x axis and the y axis are v respectivelyx0And vy0，vxIs v isx0And v0Resultant velocity in the x-axis, vyIs v isy0And vrResultant velocity in the y-axis, at which vxAnd vyRespectively as follows:
Figure FDA0003208490580000011
in the formula: v. ofx0Satisfies the equation vx0＝vcosθ，vy0Satisfies the equation vy0＝vsinθ；
And 4, step 4: v. ofxAnd vyHas a resultant velocity v1The interference fin angle β at this time is:
Figure FDA0003208490580000012
in the formula: interference fin angle beta represents v1The included angle is formed with the positive direction of the x axis;
and 5: when the wake vortex generated by the front fin reduces the lift force of the rear fin, the negative interference lift force generated by the single rear fin is recorded as Fb-When the wake vortex generated by the front fin increases the lift force of the rear fin, the positive interference lift force generated by the single rear fin is recorded as Fb+Generating Fb-There are two cases, one is that the wake vortex shedding by the skeg is clockwise, point a is above the straight line PQ, vy0＞vrAnd alpha is less than 0, in the second case, the trailing vortex falling off from the front fin rotates anticlockwise, point A is positioned below the straight line PQ, vy0＞vrAnd alpha > 0, F is produced in both casesb-In addition to the two cases, the rear fin is generatedAll lifting forces of (are F)b+Generation of Fb+And Fb-All can be obtained by the interference fin angle;
step 6: as known from the Karman vortex street phenomenon, when the Reynolds number Re satisfies 250 < Re < 2X 105And v isy0＞vrWhen water flows through the front fins, the wake vortexes with opposite rotation directions sequentially fall off, the interference of the wake vortexes on the lift force of the rear fins is changed periodically, the interference of the front fins in the first half period enables the lift force of the rear fins to be increased, the interference of the front fins in the second half period enables the lift force of the rear fins to be reduced, and the interference lift force F generated by a single rear fin at the momentbComprises the following steps:
Figure FDA0003208490580000021
in the formula: rho is the density of the seawater, S is the area of the fin body,
Figure FDA0003208490580000022
in relation to the fin shape and mounting position, alpha, for the coefficient of lifte+Effective positive fin angle and satisfies alphae+＝|α|+β，αe-Is an effective negative fin angle and satisfies alphae-T is the shedding period of the wake vortex and satisfies
Figure FDA0003208490580000023
And 7: lift force generated by single front fin is FaAnd satisfy
Figure FDA0003208490580000024
At this time, the lift force coupling coefficient of the front fin and the rear fin is as follows:
Figure FDA0003208490580000025
in the formula: and lambda is a lift coupling coefficient of the front fin and the rear fin and represents the influence degree of wake vortexes generated by the front fin on the lift of the rear fin.
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