CN116834939A - Energy-saving method of underwater internal wave boosting carrier - Google Patents
Energy-saving method of underwater internal wave boosting carrier Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/37—Moving-wave propellers, i.e. wherein the propelling means comprise a flexible undulating structure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
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Abstract
The application discloses an energy-saving method of an underwater internal wave boosting carrier, which comprises the steps of submerging the carrier to an internal solitary wave surface and moving under the action of internal solitary wave thrust, judging whether the carrier reaches an ideal stress point state, and when the carrier is in a non-ideal point state, adjusting the stress direction of a raft type lower plate to reach the ideal point state so as to maximize the internal solitary wave thrust borne by the lower plate; when the speed of the carrier is not increased any more, the carrier is driven to run through the tail screw propeller, when the speed of the carrier is in common speed with the wave speed, the tail thrust is removed, the ballast water tank is regulated to regulate the buoyancy change so as to adapt to the wave surface to reach the balance state in common speed with the internal solitary wave, the stress condition of the lower plate pressure sensor is monitored in real time, and the carrier is ensured to always receive the thrust of the internal solitary wave. The scheme utilizes the deep sea internal solitary wave energy to drive the carrier to the fixed route so as to realize higher efficiency, higher power, energy conservation and emission reduction and effectively improve the wave energy utilization rate.
Description
Technical Field
The application belongs to the field of energy-saving control of underwater vehicles, and particularly relates to an energy-saving method of an underwater internal wave boosting vehicle, which is used for realizing high-quality energy-saving driving by means of special wave energy in the ocean.
Background
The underwater vehicles play an indispensable role in marine environment monitoring, marine science research and marine military tasks. The existing underwater vehicle is mainly powered by the battery of the vehicle, has the problems of insufficient movement distance, short endurance time and the like, and is difficult to develop long-time and large-range underwater operation. The ocean renewable energy source has incomparable effect, wherein the wave energy is used as the ocean energy with the highest utilization range, has the characteristics of high energy density, large reserve, wide distribution, low cost and the like, and is an ideal energy capture object.
Wave energy refers to the sum of kinetic energy and potential energy generated in the process of wave motion, and the energy has the characteristics of high energy density, high storage capacity and reproducibility, so that a device driven by the wave energy is also generated. At present, the driving energy widely applied to the wave power generation device is mostly wind surge mixed waves on the surface layer of the sea, but in the wave energy, people often neglect an internal solitary wave generated in the sea. The internal solitary wave is the fluctuation generated in the sea water of the density stabilization layer junction, and has the characteristics of high energy, motion rule, strong continuity, large amplitude and short period. In particular, the north and south China sea is one of the global isolated wave high-rise areas, has the internal isolated wave with the largest transmission energy, the highest frequency and the strongest amplitude, and is the best place driven by the energy of the internal isolated wave. Wherein the maximum amplitude of the internal solitary wave can reach 240m, and the horizontal wave speed is 2.5m/s. Observations show that the south-sea solitary waves can occur on average 1 time per day and that multiple internal solitary waves can follow the same particular road after each recurring period. Starting to spread to the west from the west Liu Po sea area of the east sand ring reef in the north of south China, crossing the deep water area and the Liu Po land frame area, and finally collapsing and crushing at the coast of China; its propagation range exceeds 600 km.
By combining the characteristics of the internal solitary wave motion law and the like, although more internal solitary waves are not found at present, after the technology is mature in the future, more internal solitary waves with fixed paths are explored to form an internal solitary wave traffic network. The utilization of the internal solitary wave to drive the navigation device to carry natural gas hydrate or deep sea mineral resources such as polymetallic nodule and the like tends to become a future submarine transportation trend, and the goods are rapidly transported from north south China sea to north east China sea along the internal solitary wave route. And a plurality of 'subway under sea' stations can be established according to the route, so that the directional transportation of multiple stations and the convenience and high efficiency of cargo transportation are realized.
Therefore, the establishment of the internal solitary wave route can promote the realization of the sea-air double traffic hub layout of a land high-speed railway network and an offshore fast channel network, and how to drive the underwater vehicle to navigate along waves based on the internal solitary wave is urgent to carry out schedule, how to utilize the regular route, the vertical energy and the horizontal energy to push the underwater vehicle, so as to construct a new way for pushing the underwater vehicle by wave energy, and the operation speed and the energy-saving efficiency of the underwater vehicle can be improved, so that the method gradually becomes the key point of the current research.
Disclosure of Invention
The application provides a method for driving an underwater carrier by utilizing the characteristics of an internal solitary wave specific route, high wave speed, high energy and no deformation of water wave, which is to accelerate the carrier by utilizing the internal solitary wave and navigate along with the internal solitary wave specific route, and can effectively improve the running speed and energy-saving efficiency of the carrier.
The application is realized by adopting the following technical scheme: the utility model provides an energy-conserving method of underwater internal wave boosting carrier, the carrier includes navigation carrier, pendulum rod and a plurality of raft type lower plates that detain through the articulated connection, the below of raft type lower plate is provided with pressure sensor and liquid density sensor, install the atress angle adjustment subassembly on the raft type lower plate, the pendulum rod is connected between navigation carrier and atress angle adjustment subassembly, atress angle adjustment subassembly is fixed on the light density material lower plate, the upper portion and the navigation carrier articulated connection of pendulum rod, the lower part fixed connection atress angle adjustment subassembly of pendulum rod is provided with broadside turbofan engine and afterbody screw on the navigation carrier, the method includes the following steps:
step A: monitoring the inner solitary wave condition, determining the submerging position of the carrier, and submerging the carrier to the inner solitary wave surface;
and (B) step (B): the carrier moves only under the action of internal solitary wave thrust, and whether the carrier reaches an ideal stress point state is judged; when the angle between the swing rod and the raft type lower plate monitored by the stress angle adjusting component is a right angle, the angle is in an ideal point state, otherwise, the angle is in a non-ideal point state;
step B1, if the carrier is in a non-ideal point state, the carrier receives the thrust in the oblique upward direction of the internal solitary wave, and the angle between the swing rod and the raft type lower plate is regulated by the stress angle regulating assembly, so that the internal solitary wave thrust received by the lower plate is maximized, and the ideal point state is achieved;
step B2, if the carrier is in an ideal point state, the carrier is accelerated and advanced only under the action of internal solitary wave thrust, and when the speed of the carrier is not increased any more, the tail screw propeller is started to drive the carrier to accelerate along the wave surface;
and C, when the carrier and the wave speed are in common speed, removing the thrust of the tail propeller, and monitoring the stress condition of the lower plate pressure sensor in real time to ensure that the carrier reaches a stress balance state and ensure that the carrier always receives the thrust of the internal solitary wave.
In the step a, data are collected in real time through a buoy to monitor the internal solitary wave, the distance and the speed difference between the internal solitary wave surface and the carrier are measured by combining an underwater camera and an underwater flowmeter, the submergence position and the submergence speed of the carrier are determined, the side turbine engine is started to submerge until a lower plate is in contact with the internal solitary wave surface, and the side turbine engine is closed after the side turbine engine submerges to the internal solitary wave surface.
Further, according to the set internal solitary wave frequency parameters of the filter in the auxiliary buoy, the density change of the seawater collected by the liquid density sensor at the raft lower plate and the pressure value detected by the pressure sensor are combined, and whether the raft lower plate is positioned at the internal solitary wave interface or not is accurately judged.
Further, in the step B, when the carrier is regarded as a particle as a whole, the process from the initial speed to the carrying of the internal solitary wave together to reach the common speed is independent of the position of the internal solitary wave surface of the carrier, that is, 0 exists in the whole process of the common speed of the carrier and the internal solitary wave no matter where on the internal solitary wave surface<t<t 1 First stage of internal solitary wave thrust reduction and t 1 <t<t 2 The second stage of accelerating the tail rotor is started, and if the speed of the carrier is monitored to be no longer increased only under the pushing of the internal solitary wave, the speed is t 1 At the moment, when the carrier and the wave speed reach the common speed, the moment is t 2 At the moment, when the adjustment is performed in an ideal point state, the following method is specifically adopted:
(1) At 0<t<t 1 A first stage in which the carrier is subjected to an acceleration motion with reduced acceleration in the horizontal direction; in the vertical direction, the carrier is balanced in stress by adjusting the buoyancy of the ballast cavity, and the carrier always accelerates under the condition that the thrust of the internal solitary wave is gradually reduced and is pushed forward by the internal solitary wave to move along with the wave shape;
(2)t 1 at moment, when the speed of the carrier is not increased any more, starting a propeller at the tail part of the carrier to apply a propelling force to the carrier, so that the carrier continuously accelerates along the inner solitary wave;
(3) At t 1 <t<t 2 In the second stage, the carrier is accelerated to be at the same speed with the wave speed of the internal solitary wave under the action of the propelling force, the heading machine is pushed to move forwards along with the wave shape by the tail propeller in the whole second stage, and at t 2 Time of dayReaching the same speed with the internal solitary wave.
Further, in the step C, in the process of adjusting the common speed, the stress condition of the carrier is adjusted to reach a stress balance state:
because the carrier receives the vertical upward component force of the internal solitary wave, the buoyancy of the vertical direction of the carrier is regulated by regulating the water level of the ballast water tank in the navigation carrier, the force signal collected by the pressure sensor of the raft type lower plate is zero, so that the stress balance state is achieved, the raft type lower plate just contacts the internal solitary wave surface, the force of the internal solitary wave surface does not occur, the carrier cannot receive the thrust of the internal solitary wave at the moment, and the carrier always moves forwards at the wave speed.
Compared with the prior art, the application has the advantages and positive effects that:
the scheme provides a brand new method for driving the underwater carrier by using the internal solitary wave, which utilizes the internal solitary wave energy in the deep sea to drive the carrier to be arranged on a fixed route, has abundant internal solitary wave resources, can realize more efficient and higher-power energy conservation and emission reduction by repeated utilization, and effectively improves the wave energy utilization rate; not only reduces the chemical energy required by the traditional carrier and reduces the emission of carbon dioxide and pollutants, but also does not cause any pollution to the ocean and the atmospheric environment.
Drawings
FIG. 1 is a schematic view of the overall flow of a vehicle propelled by an internal solitary wave according to an embodiment of the present application;
FIG. 2 is a schematic view of a carrier according to an embodiment of the present application;
FIG. 3 is a schematic view of the overall motion of a carrier according to an embodiment of the present application;
FIG. 4 is a schematic view of the load bearing force of the carrier at the ideal point P according to the embodiment of the present application;
FIG. 5 shows the carrier at 0 to t according to an embodiment of the application 2 Stress analysis chart of ideal point P at time point (a) is 0-t 1 Time (b) t 1 To t 2 Time (c) is t 2 Time;
FIG. 6 is a graph showing the variation of the velocity of the internal solitary wave with time at an ideal point P for a vehicle according to an embodiment of the present application;
FIG. 7 is a schematic view of the load bearing force of the carrier at the non-ideal point Q according to the embodiment of the present application;
FIG. 8 is a graph illustrating a force analysis of a vehicle at a non-ideal point Q according to an embodiment of the present application; (a) Is 0 to t 1 Time (b) is t 1 To t 2 Time (c) is t 2 A stress analysis chart of a moment non-ideal point Q;
FIG. 9 is a schematic diagram illustrating a connection relationship between a force angle adjusting assembly and a swing rod according to an embodiment of the present application;
fig. 10 is a schematic diagram of a transmission gear set according to an embodiment of the present application.
Detailed Description
In order that the above objects, features and advantages of the application will be more readily understood, a further description of the application will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced otherwise than as described herein, and therefore the present application is not limited to the specific embodiments disclosed below.
The embodiment provides a method for driving an underwater carrier by using an internal solitary wave, the internal solitary wave is propelled forward by a fixed wave, the carrier comprises a navigation carrier 2, a swing rod 4 and a plurality of raft type lower plates 5 connected by hinged buckles, a stress angle adjusting component 6 is arranged on each raft type lower plate 5, the swing rod 4 is connected between the navigation carrier 2 and the stress angle adjusting component 6, as shown in fig. 2, a broadside turbine engine 3 and a tail propeller 1 are arranged on the navigation carrier 2, and the carrier can rapidly and accurately reach the internal solitary wave surface by using symmetrical broadside turbine engines; the propeller propulsion of the tail propeller is adjusted in real time, so that the acceleration process before the carrier and the internal solitary wave are in common speed and the synchronization process after the carrier and the internal solitary wave are in common speed are realized, and the underwater long-time low-power-consumption submarine navigation is realized.
As shown in fig. 9 and 10, the upper part of the swinging rod 4 is hinged with the body of the navigation carrier, the lower part of the swinging rod 4 is fixedly connected with a stress angle adjusting component 6, the stress angle adjusting component 6 is fixed on a lower plate 5 made of light density materials, the stress angle adjusting component 6 comprises an environment monitoring component 15 and a transmission gear set, the transmission gear set comprises a small straight gear 16, a large straight gear 14, a first conical gear 13 and a second conical gear 24, the small straight gear 16 is arranged on an output shaft of the brushless motor 17, the large straight gear 14 and the second conical gear 24 are arranged on the same fixed shaft, the first conical gear 13 is arranged on a swinging rod transmission shaft 23, the lower end of the swinging rod 4 is fixedly connected with the swinging rod transmission shaft 23, the small straight gear 16 is meshed with the large straight gear 14, the second conical gear 24 is meshed with the first conical gear 13, the rotating shaft of the swinging rod transmission shaft brushless motor 17 drives the small straight gear 16 to rotate, and then drives the large straight gear 14 to rotate, and simultaneously drives the second conical gear 24 to rotate in the same direction, the second conical gear 24 is meshed with the first conical gear 13, so that the swinging rod 23 is meshed with the first conical gear 13, and the swinging rod 4 can rotate, and the swinging rod 4 is correspondingly adjusted to the swinging rod 4 and the swing rod 4 is correspondingly rotated, and the swinging rod 4 is correspondingly rotated.
The raft type lower plates 5 are connected through hinge buckles, the hinge buckle design is more conventional, excessive limitation is not carried out, mutual rotation of the adjacent raft type lower plates 18 is achieved, when the waveform changes, the hinge buckles can achieve angle adaptation adjustment between the adjacent raft type lower plates 18 according to the change of the waveform, and further the integral curvature of the lower plates can be adjusted in an inner isolated wave surface to adapt to the change of the shape of the inner isolated wave, wherein the raft type lower plates 5 are made of flexible light-density materials, the density of the flexible light-density materials is the same as that of the density seawater of the upper layer of the inner isolated wave, therefore, the raft type lower plates can always move above the inner isolated wave thermocline along with the waveform, and a pressure sensor and a liquid density sensor are arranged below the raft type lower plates, so that whether the raft type lower plates are submerged to the inner isolated wave surface or not can be detected through pressure and seawater density change.
Specifically, when the underwater vehicle is driven by the internal solitary wave, as shown in fig. 1, the method comprises the following steps:
step A: monitoring the internal solitary wave condition, determining the submerging position of the carrier, and submerging the carrier to the internal solitary wave surface;
firstly, acquiring data in real time through a buoy, and monitoring the internal solitary wave condition; when the internal solitary wave comes, the carrier three-dimensionally measures the distance and speed difference between the internal solitary wave surface and the carrier through the underwater high-definition camera and the underwater flowmeter, the submerged position of the carrier is determined, then the ship side turbine engine is started to be submerged until the raft type lower plate is contacted with the internal solitary wave surface, namely, the liquid density sensor at the raft type lower plate collects the density change of sea water, meanwhile, the pressure sensor obtains the pressure of the internal solitary wave, the internal wave frequency parameter is set for the auxiliary buoy internal filter, and when the internal solitary wave comes, the buoy display can display an internal solitary wave signal, so that whether the carrier type lower plate is at the internal solitary wave interface or not can be identified; and identifying whether the raft type lower plate is positioned at the inner wave interface. Because the initial speed of the carrier is smaller than the internal solitary wave speed at this time, when the carrier is contacted with the internal solitary wave surface, the internal solitary wave can push the carrier forward through the contact surface, and the push force is continuously reduced along with the reduction of the relative speed difference.
In the scheme, the fact that the inner solitary wave advances in a fixed waveform is considered, and the density of the raft type lower plate is the same as that of the seawater on the upper layer of the inner solitary wave, so that the raft type lower plate of the carrier adopts the light-density material plate to enable the carrier to move along with the waveform above the thermocline of the inner solitary wave all the time.
And (B) step (B): the carrier moves only under the action of internal solitary wave thrust, and whether the carrier reaches an ideal stress point is judged;
when the carrier contacts an inter-isolated wavefront, there is an ideal point P and a non-ideal point Q throughout the length of the wavefront. When the carrier is at the non-ideal point Q, as shown in fig. 3. In the process of the movement of the carrier receiving the internal solitary wave thrust, the angle change of the carrier swing rod 4 and the raft type lower plate 5 is measured through the inclination sensor, the ideal point is obtained when the monitored angle is a right angle, the non-ideal point is obtained when the monitored angle is not a right angle, for example, when the carrier is at the non-ideal point Q, the carrier swing rod is separated from the lower plate by a certain angle, the internal solitary wave thrust is perpendicular to the lower plate, namely, the angle between the internal solitary wave thrust and the swing rod is beta, and the angle between the internal solitary wave thrust and the x horizontal axis is alpha. Thus, the inner solitary wave thrust is applied to the carrier along the horizontal component of the pendulum bar (as shown in fig. 7).
Step B1, if the carrier reaches a non-ideal point state, the carrier receives the thrust in the upward direction of the wave, and the carrier reaches the ideal point state by adjusting the stress direction of the raft type lower plate of the carrier;
the motion analysis process of the carrier at the non-ideal point Q is as follows:
when the whole carrier is regarded as particles from a macroscopic view, the process from the initial speed to the co-speed of the carrier carried by the internal solitary wave is irrelevant to the position of the internal solitary wave surface of the carrier, namely 0 exists in the whole process of co-speed of the carrier and the internal solitary wave no matter where on the internal solitary wave surface is<t<t 1 First stage of internal solitary wave thrust reduction and t 1 <t<t 2 And opening the second stage of accelerating the tail screw propeller. Therefore, in the motion analysis of the non-ideal point Q, only the stress conditions of the carriers in the first stage and the second stage are required to be analyzed, and when the non-ideal point is the ideal point, the carrier is best in the stress direction of the internal solitary wave, so that the carrier does not need to adjust the stress direction, only the stress direction of the lower plate needs to be adjusted at the non-ideal point, and corresponding angle adjustment control is carried out, so that the non-ideal point reaches the ideal point state:
at 0<t<t 1 In the first stage, the load analysis is performed on the carrier, as shown in fig. 8 (a), and a specific motion equation is as follows:
wherein: f is internal solitary wave thrust, C is resistance coefficient, S is wet surface area, ρ is fluid density, K is thrust coefficient, F is water body motion resistance formula, fcos beta cos gamma-Fsin beta sin gamma is internal solitary wave horizontal thrust, gamma is internal solitary wave edge pendulum rod thrust and x-axis angle, fcos beta sin gamma+Fsin beta cos gamma is internal solitary wave vertical component force, F Floating device For buoyancy of the carrier, m B A is the mass of the carrier B For carryingAcceleration, K of the device is the thrust coefficient.
As known from equation (1), in the horizontal direction, the carrier is subjected to an acceleration motion with reduced acceleration; in the vertical direction, the carrier balances the stress by adjusting the buoyancy. Thus, at 0<t<t 1 In the first stage, the carrier will move from the initial speed V under the condition that the internal solitary wave thrust gradually decreases A Up to V t1 The carrier is pushed forward by the internal solitary wave to move along with the waveform, and the carrier only advances under the action of the internal solitary wave pushing force and is marked as t when the speed of the carrier is not increased any more 1 。
t 1 At the moment, the speed of the carrier is not increased any more, and the thrust of the internal solitary wave is insufficient to enable the internal solitary wave to be in common speed with the wave speed, and at the moment, a tail screw propeller of the carrier needs to be started to apply a thrust to the carrier so as to enable t 2 At that moment, the carrier speed can be accelerated to the inner solitary wave speed to a common speed:
at t 1 <t<t 2 In the second stage, the load analysis is performed on the carrier, as shown in fig. 8 (b), and a specific motion equation is as follows:
wherein: f is internal solitary wave thrust, fcos beta cos gamma-Fsin beta sin gamma is internal solitary wave horizontal thrust, gamma is internal solitary wave and along pendulum rod thrust and x-axis angle, fcos beta sin gamma + Fsin beta cos gamma is internal solitary wave vertical component force, F Floating device For buoyancy of the carrier, F is pushed by a propeller, m B A is the mass of the carrier B The acceleration of the carrier is denoted by K, and the thrust coefficient is denoted by K.
As known from formula (2), in the horizontal direction, the carrier is subject to an accelerating motion of a controllable propulsive force; in the vertical direction, the carrier balances the stress by adjusting the buoyancy. Thus, at t 1 <t<t 2 In the second stage, the carrier is driven by the propulsion force from V t1 Up to V Co-production That is, at t 2 At the moment reaching co-speed with the internal solitary wave, i.e. the carrier is pushed by the propeller in the whole second phaseThe front follows the wave shape.
t 2 At moment, the carrier and the internal solitary wave are at the same speed, and at the moment, the propulsion power is removed; the load analysis is performed on the carrier, as shown in fig. 8 (c), and a specific equation of motion is as follows:
because the carrier and the internal solitary wave are at the same speed at the moment, the thrust of the internal solitary wave is zero, the carrier is not stressed in the horizontal direction, and the carrier is balanced in the vertical direction by adjusting the buoyancy. Thus, the carrier is force balanced and t 2 And then the wave moves forward along with the motion track of the internal solitary wave at the internal solitary wave speed.
The time-dependent change chart of the speed of the carrier and the internal solitary wave in the whole process is similar to that of fig. 6, and the carrier and the internal solitary wave only change in the size of the ordinate; therefore, in the whole process, the carrier finally achieves the co-speed of the internal solitary wave, the purpose that the internal solitary wave pushes the carrier to advance is realized, and the wave energy is converted into the kinetic energy of the carrier, only t is needed to be regulated 1 To t 2 The thrust of the propeller can be realized in time.
Step B2, if the carrier is in an ideal point state, adjusting the tail screw propeller to achieve a state of being in common speed with the wave surface;
the motion analysis of the vehicle at the ideal point P proceeds as follows:
since the relative speed difference of the carrier and the internal solitary wave causes the internal solitary wave thrust, the internal solitary wave thrust and the relative speed difference are positively correlated, that is, the internal solitary wave thrust formula can be analogized into a water body resistance formula.
Wherein: f is internal solitary wave thrust, C is resistance coefficient, S is wet surface area, ρ is fluid density, K is thrust coefficient, and F is water body movement resistance formula.
Because the internal solitary wave thrust is transmitted through the lower plate surface of the carrier, which is in contact with the internal solitary wave, the wet surface area S is the surface area of the lower plate, namely S is a constant, K is a constant, and the positive correlation between the F internal solitary wave thrust and the relative speed difference is finally obtained.
Analysis of the fluid exerting the thrust:
assuming that the fluid with Vt inner cross-section a and volume V applies an inner solitary wave thrust to the carrier, the fluid with volume V has the following mass:
wherein V is the volume of the fluid, A is the cross section of the fluid, q m For instantaneous mass flow of fluid (unit Kg/h), m A Is the cumulative mass of fluid over time t.
And (3) analyzing the process from the initial speed to the common arrival of the solitary waves in the carrying of the carrier at the same speed:
the process satisfies the law of conservation of momentum, and can be written as:
wherein: m is m B For the mass of the carrier, V B For the speed of the carrier, m A For the mass of the carrier, V A Velocity of internal solitary wave, V Co-production For the speed that the carrier reaches with the inner solitary wave,
since the carrier mass is much less than the mass of the pushing fluid, the common velocity is approximately equal to the in-solitary wave velocity as seen by equation (6).
Therefore, in the whole motion t process, the same principle as the non-ideal point state, the speed difference between the carrier and the internal solitary wave becomes smaller gradually, and t exists 1 At the moment, the carrier advances only under the action of internal solitary wave, when the carrier speed no longer increases, this is denoted as t 1 The thrust of the internal solitary wave is insufficient to bring the carrier to speed with the wave velocity. At this time, the tail propeller of the carrier is started to apply a propelling force to the carrier, so that t 2 Acceleration of time-of-day carrier velocity to in-isolationThe wave velocity reaches the common velocity. The process can be divided into 0<t<t 1 First stage and t 1 <t<t 2 The second stage, as shown in fig. 5.
At 0<t<t 1 In the first stage, the load analysis is performed on the carrier, as shown in fig. 5 (a), and a specific motion equation is as follows:
wherein: f is internal solitary wave thrust, fcos theta is internal solitary wave horizontal thrust, fsin theta is internal solitary wave vertical component force, F Floating device For buoyancy of the carrier, m B A is the mass of the carrier B The acceleration of the carrier is denoted by K, and the thrust coefficient is denoted by K.
As known from equation (7), in the horizontal direction, the carrier is subjected to an acceleration motion with reduced acceleration; in the vertical direction, the carrier balances the stress by adjusting the buoyancy. Thus, at 0<t<t 1 In the first stage, the carrier will move from the initial speed V under the condition that the internal solitary wave thrust gradually decreases A Up to V t1 Is pushed forward by the inner solitary wave to move along with the wave shape.
t 1 At moment, the opening of the tail screw propeller of the carrier applies a propelling force to the carrier to ensure that t 2 At that point, the carrier speed can be accelerated to the internal solitary wave speed to reach common speed.
At t 1 <t<t 2 In the second stage, the load analysis is performed on the carrier, as shown in fig. 5 (b), and a specific motion equation is as follows:
wherein: f is internal solitary wave thrust, fcos theta is internal solitary wave horizontal thrust, fsin theta is internal solitary wave vertical component force, F Floating device For buoyancy of the carrier, F is pushed by a propeller, m B A is the mass of the carrier B The acceleration of the carrier is denoted by K, and the thrust coefficient is denoted by K.
As known from formula (8), in the horizontal direction, the carrier is subject to an accelerating motion of a controllable propulsive force; in the vertical direction, the carrier balances the stress by adjusting the buoyancy. Thus, at t 1 <t<t 2 In the second stage, the carrier is driven by the propulsion force from V t1 Up to V-common, i.e. at t 2 And the speed is reached to be the same as the speed of the internal solitary wave at the moment, namely, the heading machine is pushed to move forwards along with the wave form by the tail propeller in the whole second stage.
t 2 At the moment, the carrier and the internal solitary wave are at the same speed, and the propulsion power is removed at the moment. The load analysis is carried out on the carrier, as shown in fig. 5 (c), and a specific equation of motion is as follows:
because the carrier and the inner solitary wave are at the same speed at the moment, the thrust of the inner solitary wave is zero, the carrier is not stressed in the horizontal direction, and the carrier is balanced in the vertical direction by adjusting the buoyancy. Thus, the carrier is force balanced and t 2 And then the wave moves forward along with the motion track of the internal solitary wave at the internal solitary wave speed. The time-dependent change of the speed of the carrier and the internal solitary wave in the whole process is shown in the following figure 6:
therefore, in the whole process, the carrier finally achieves the co-speed of the internal solitary wave, the purpose that the internal solitary wave pushes the carrier to advance is realized, and the wave energy is converted into the kinetic energy of the carrier, only t is needed to be regulated 1 To t 2 The thrust of the propeller can be realized in time.
In the stage before the common speed, the thrust of the propeller at the tail of the carrier is always changed, the speed of the carrier measured by the water flow meter is compared with the internal isolated wave speed measured by the buoy every time the propeller applies a small amount of force, once the data of the water flow meter is smaller than the internal isolated wave speed, the propeller of the carrier continuously applies the thrust, and the reciprocating cycle is always performed until the data collected by the water flow meter and the data of the buoy are equal.
In summary, the tail screw propulsion is only required to be adjusted at the ideal point or the non-ideal point,passing the carrier through t 2 After the time, the speed of the carrier is same as that of the internal solitary wave, and then the carrier moves forwards along with the internal solitary wave, so that the purposes of advancing the carrier by wave and saving energy are realized.
And C, in the process of regulating the common speed in the step B, as the carrier receives the vertical upward component force of the internal solitary wave, in the upward movement process, when the force signal acquired by the pressure sensor of the lower plate is zero (the carrier is separated from the wave surface), the ballast water tank in the sailing carrier absorbs and discharges the ballast water through the control system in the behavior control box, and the buoyancy of the vertical direction of the carrier is regulated, so that the carrier always contacts the internal solitary wave surface, namely the force signal acquired by the pressure sensor of the lower plate is maximum. The carrier will continue to remain in wave front progression under the internal solitary wave horizontal thrust.
Once the pressure sensor collects a force signal of 0, the ballast tank opens a valve to absorb seawater, and when the seawater is absorbed, the carrier sinks due to the weight increased by the ballast water, the pressure sensor monitors data in real time at the time of sinking, and once the pressure sensor receives wave pressure data, the ballast tank stops absorbing the seawater.
The application adopts the method of driving the underwater carrier by the internal solitary wave, which is used for realizing the high-quality energy-saving driving of the carrier by reducing the navigation power and saving the energy by means of the special wave energy in the ocean.
The present application is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical substance of the present application without departing from the technical content of the present application still belong to the protection scope of the technical solution of the present application.
Claims (7)
1. The utility model provides an energy-conserving method of underwater internal wave boosting carrier, its characterized in that, the carrier includes navigation carrier (2), pendulum rod (4) and a plurality of raft type lower plates (5) that link through articulated knot, the below of raft type lower plates (5) is provided with pressure sensor and liquid density sensor, install atress angle adjustment subassembly (6) on raft type lower plates (5), pendulum rod (4) are connected between navigation carrier (2) and atress angle adjustment subassembly (6), atress angle adjustment subassembly (6) are fixed on light density material lower plates (5), the upper portion of pendulum rod (4) is articulated to be connected with navigation carrier (2), the lower part fixed connection atress angle adjustment subassembly (6) of pendulum rod (4), be provided with topside turbofan engine (3) and afterbody screw (1) on navigation carrier (2), the method includes the following steps:
step A: monitoring the inner solitary wave condition, determining the submerging position of the carrier, and submerging the carrier to the inner solitary wave surface;
and (B) step (B): the carrier moves only under the action of internal solitary wave thrust, and whether the carrier reaches an ideal stress point state is judged; when the angle between the swing rod and the raft type lower plate monitored by the stress angle adjusting component is a right angle, the angle is in an ideal point state, otherwise, the angle is in a non-ideal point state;
step B1, if the carrier is in a non-ideal point state, the carrier receives the thrust in the oblique upward direction of the internal solitary wave, and the angle between the swing rod and the raft type lower plate is regulated by the stress angle regulating assembly, so that the internal solitary wave thrust received by the lower plate is maximized, and the ideal point state is achieved;
step B2, if the carrier is in an ideal point state, the carrier is accelerated and advanced only under the action of internal solitary wave thrust, and when the speed of the carrier is not increased any more, the tail screw propeller is started to drive the carrier to accelerate along the wave surface;
and C, when the carrier and the wave speed are in common speed, removing the thrust of the tail propeller, and monitoring the stress condition of the lower plate pressure sensor in real time to ensure that the carrier reaches a stress balance state and ensure that the carrier always receives the thrust of the internal solitary wave.
2. The method for saving energy of an underwater internal wave boosting carrier according to claim 1, characterized in that: in the step A, data are collected in real time through a buoy to monitor an internal solitary wave, the distance and the speed difference between the internal solitary wave surface and a carrier are measured by combining an underwater camera and an underwater flowmeter, the submergence position and the submergence speed of the carrier are determined, a side turbine engine is started to submerge until a raft type lower plate is contacted with the internal solitary wave surface, and a chord side turbine engine is closed after the submerged state of the internal solitary wave surface.
3. The method for saving energy of an underwater internal wave boosting carrier according to claim 2, characterized in that: in the step A, according to the set internal solitary wave frequency parameter of the filter in the auxiliary buoy, the density change of the seawater collected by the liquid density sensor at the raft lower plate and the pressure value detected by the pressure sensor are combined, and whether the raft lower plate is positioned at an internal solitary wave interface or not is judged.
4. The method for saving energy of an underwater internal wave boosting carrier according to claim 1, characterized in that: in the step B, when the whole carrier is regarded as a particle, the process from the initial speed to the common arrival of the internal solitary wave is independent of the position of the internal solitary wave surface, namely 0 exists in the whole process of the common arrival of the carrier and the internal solitary wave no matter anywhere on the internal solitary wave surface<t<t 1 First stage of internal solitary wave thrust reduction and t 1 <t<t 2 The second stage of accelerating the tail rotor is started, and if the speed of the carrier is monitored to be no longer increased only under the pushing of the internal solitary wave, the speed is t 1 At the moment, when the carrier and the wave speed reach the common speed, the moment is t 2 At the moment, when the adjustment is performed in an ideal point state, the following method is specifically adopted:
(1) At 0<t<t 1 A first stage in which the carrier is subjected to an acceleration motion with reduced acceleration in the horizontal direction; in the vertical direction, the carrier is balanced in stress by adjusting the buoyancy of the ballast cavity, and the carrier always accelerates under the condition that the thrust of the internal solitary wave is gradually reduced and is pushed forward by the internal solitary wave to move along with the wave shape;
(2)t 1 at moment, when the speed of the carrier is not increased any more, starting a propeller at the tail part of the carrier to apply a propelling force to the carrier, so that the carrier continuously accelerates along the inner solitary wave;
(3) At t 1 <t<t 2 In the second stage, the carrier is accelerated to be at the same speed with the wave speed of the internal solitary wave under the action of the propelling force, and the carrier is pushed to move forwards along with the wave motion by the tail propeller in the whole second stage, and at t 2 And the speed of the wave is the same as that of the internal solitary wave at the moment.
5. The method for saving energy of an underwater internal wave boosting carrier according to claim 1, characterized in that: in the step C, in the process of adjusting the common speed, the stress condition of the carrier is adjusted to enable the carrier to reach a stress balance state:
because the carrier receives the vertical upward component force of the internal solitary wave, the buoyancy of the vertical direction of the carrier is regulated by regulating the water level of the ballast water tank in the navigation carrier, the force signal collected by the pressure sensor of the raft type lower plate is zero, so that the stress balance state is achieved, the raft type lower plate just contacts the internal solitary wave surface, the force of the internal solitary wave surface does not occur, the carrier cannot receive the thrust of the internal solitary wave at the moment, and the carrier always moves forwards at the wave speed.
6. The method for saving energy of an underwater internal wave boosting carrier according to claim 1, characterized in that: the stress angle adjusting assembly (6) comprises an environment monitoring assembly (15) and a transmission gear set, the transmission gear set comprises a small straight gear (16), a large straight gear (14), a first conical gear (13) and a second conical gear (24), the small straight gear (16) is arranged on an output shaft of the brushless motor (17), the large straight gear (14) and the second conical gear (24) are arranged on the same fixed shaft, the first conical gear (13) is arranged on a swing rod transmission shaft (23), the lower end of the swing rod (4) is fixedly connected with the swing rod transmission shaft (23), the small straight gear (16) is meshed with the large straight gear (14), the second conical gear (24) is meshed with the first conical gear (13), the rotating shaft of the swing rod transmission shaft (17) rotates to drive the small straight gear (16) to rotate, then the large straight gear (14) is driven to move, the second conical gear (24) is driven to rotate in the same direction, the second conical gear (24) is meshed with the first conical gear (13), and accordingly the swing rod transmission shaft (13) is driven to rotate.
7. The method for saving energy of an underwater internal wave boosting carrier according to claim 1, characterized in that: the raft type lower plate (5) is made of flexible light-density materials, and the density of the raft type lower plate is the same as that of the seawater on the upper layer of the inner solitary wave.
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