上海交通大学学报

上海交通大学学报 ›› 2020, Vol. 54 ›› Issue (5): 441-450.doi: 10.16183/j.cnki.jsjtu.2020.05.001

• 学报（中文） •    下一篇

水下多缆多体拖曳系统运动建模与模拟计算

王飞1，丁伟2，邓德衡1，吴小峰3   

  1. 1. 上海交通大学 海洋工程国家重点实验室； 高新船舶与深海开发装备协同创新中心， 上海 200240； 2. 武汉第二船舶设计研究所， 武汉 430064； 3. 中国船舶科学研究中心， 江苏 无锡 214082
  • 出版日期:2020-05-28 发布日期:2020-06-02
  • 通讯作者: 王飞(1979-)，男，上海市人，博士，从事船舶操纵性研究，电话（Tel.）:021-34208380; E-mail: Hengex@gmail.com.
  • 基金资助:
    国家自然科学基金资助项目（51779140）

Motion Modeling and Numerical Simulation Study of Underwater Multi-Cable Multi-Body Towed System

WANG Fei 1,DING Wei 2,DENG Deheng 1,WU Xiaofeng 3   

  1. 1. State Key Laboratory of Ocean Engineering; Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Wuhan Second Ship Design and Research Institute, Wuhan 430064, China; 3. China Ship Scientific Research Center, Wuxi 214082, Jiangsu, China
  • Online:2020-05-28 Published:2020-06-02

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摘要： 针对水下多缆(阵列)多体拖曳系统，给出了其动力学数学模型及其对应的数值求解方案，用以预报分析其在各种情况下的运动响应特性.模型由3部分组成：基于集中质量法给出了拖缆的运动控制方程；水下工作拖体因其为系统的关键部件而采用潜艇6自由度运动控制方程进行精确描述；而系统中另一个小型拖曳体因其尺度相对很小则简化为质量点融入拖缆的控制方程中.通过建立拖缆和拖体耦合边界条件将其耦合成一个整体，并采用4阶龙格库塔方法进行积分求解.最后针对4缆2拖曳体系统展开数值计算，研究了系统在不同情况下的运动响应特性，给出了一些规律性结论.

关键词: 水下拖缆, 集中质量法, 拖曳系统, 数值计算

Abstract: Aimed at the underwater multi-cable multi-body towed system, a mathematical model and the corresponding numerical solution are proposed to predict and analyze its dynamic characteristics in various conditions. The model consists of three parts: the governing equation of cables is given based on the lumped mass method; the underwater towed body, as a key part of the system, is accurately described by the 6 degree-of-freedom governing equations for submarines; the other tiny towed body in the system is simplified as a mass point and is incorporated into the cable node governing equation because of its small dimension. Coupling boundary conditions for towed cable and body are given to unite the three parts together, which is numerically solved by using the 4th order Runge-Kutta integration method. Finally, numerical simulations for a four-cable and two-body towed system are conducted to study its dynamic response in various conditions, and some conclusions are drawn from the results.

Key words: underwater towed cable, lumped mass method, towed system, numerical simulation

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