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1.
Nonlinear behaviors of a free-floating body in waves were experimentally investigated in the present study. The experiments were carried out for 6 different wave heights and 6 different wave periods to cover a relatively wide range of wave nonlinearities. A charge-coupled device (CCD) camera was used to capture the real-time motion of the floating body. The measurement data show that the sway, heave and roll motions of the floating body are all harmonic oscillations while the equilibrium position of the sway motion drifts in the wave direction. The drift speed is proportional to wave steepness when the size of the floating body is comparable to the wavelength, while it is proportional to the square of wave steepness when the floating body is relatively small. In addition, the drift motion leads to a slightly longer oscillation period of the floating body than the wave period of nonlinear wave and the discrepancy increases with the increment of wave steepness. 相似文献
2.
多级可分离式自主水下航行器(MS-AUV)可搭载多种不同功能的载荷舱,并在目标海域完成载荷舱布放。其在海洋探测,海防等领域具有较高的应用价值。对MS-AUV进行了主体结构和分离机构的设计和研究,其中功能载荷舱与航行器本体采用真空连接方式,实现多级连接,降低了机构的复杂性,提高了载荷舱分离运动的稳定性和安全性。为了研究载荷舱与航行器分离的安全性,采用CFD和六自由度(6-DOF)刚体运动学的耦合方法来模拟其在水下的分离运动。在仿真过程中,采用弹簧光顺和局部重构混合网格生成方法的非结构化动态网格可以很好地适应大距离多体分离运动。仿真结果表明,在一定工况条件下,提高MS-AUV初始航行速度V0和分离机构弹簧刚度K有利于载荷与航行器本体分离。通过上述研究工作,验证了载荷分离方法的可行性,缩短研制周期,降低设计成本,对多级可分离式AUV样机的设计制造具有重要的参考价值。 相似文献
3.
This paper analyses nonlinear dynamics of cable towed body system. The cable has been modeled and analyzed using a new nodal position finite element method, which calculates the position of the cable directly instead of the displacement by the existing finite element method. The newly derived nodal position finite element method eliminates the need of decoupling the rigid body motion from the total motion, where numerical errors arise in the existing nonlinear finite element method, and the limitation of small rotation in each time step in the existing nonlinear finite element method. The towed body is modeled as a rigid body with six degrees of freedom while the tow ship motion is treated as a moving boundary to the system. A special procedure has been developed to couple the cable element with the towed body. The current approach can be used as design tool for achieving improved directional stability, maneuverability, safety and control characteristics with the cable towed body. The analysis results show the elegance and robustness of the proposed approach by comparing with the sea trial data. 相似文献
4.
For Cconsideration ofing both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be used as the guidance to underwater gliders design. Gibbs function of the underwater glider system is derived first, and then the nonlinear dynamic model is obtained by use of Apell Equations. The relationships between dynamical behaviors and design parameters are studied by solving the dynamic model. The spiral motion, swerving motion in three dimensions and the saw-tooth motion of the underwater glider in vertical plane are studied. Lake trials are carried out to validate the dynamic model. 相似文献
5.
The direct measurement of displacement time histories, obtained by tracking illuminated targets located on the exterior surface of submerged objects, has significant advantages for large-scale model tests. Many problems of interest require the simultaneous measurement of three-dimensional motions at several elevations on the same body or on several bodies in close proximity. Thus, optical tracking of targets in air or water or some combination of the two required the development of a general analytical formulation capable of converting local data measured from multiple camera locations to a global coordinate system for further analysis. The formulation presented is quite general and allows one to study the displacement behavior of single or multiple targets located on the same object or on different moving objects. As part of the analysis, calibration issues, possible sources of error and the optimal choice of camera location are discussed in detail. Data obtained from a large-scale model test of deepwater platform TLP tendons subjected to random design seas is used to illustrate the methodology. In the example, four different cameras were used to record the tendon displacements. To illustrate the methodology, five different camera combinations were used to compute the target location. The results indicate that the formulation is quite robust and that, although only a two-camera system is required to resolve the three-dimensional global coordinates of a single target, the use of a third camera can enhance the accuracy of the results. Guidelines for using cameras to track target motion were developed and are presented. 相似文献
6.
A simple numerical technique is developed for generating pseudorandom realizations of three-dimensional (3-D) transient acoustic waves that are scattered from two-dimensional (2-D) patches of randomly rough surfaces. The rough surface height of a patch is represented numerically in the 2-D horizontal wavenumber plane by choosing a scheme for interpolation between pseudorandom complex coefficients. Using this approach, the realizations of the patches can be generated from experimentally measured roughness power spectra, and phase information is generated in the frequency domain that leads to time spreads in the time domain. The acoustic scattering is modeled here with first-order perturbation theory. The boundary conditions considered here are pressure-release, rigid, and fluid-fluid. Three different spatial windows are considered for defining the patches. In the time domain, the time spreads of the scattered waveforms agree with predictions. In the frequency domain, the phase is seen as a random walk. The solutions developed here can be used with normal mode propagation models or ray propagation models 相似文献
7.
Nonlinear behaviors of a free-floating body in waves were experimentally investigated in the present study. The experiments were carried out for 6 different wave heights and 6 different wave periods to cover a relatively wide range of wave nonlinearities. A charge-coupled device (CCD) camera was used to capture the real-time motion of the floating body. The measurement data show that the sway, heave and roll motions of the floating body are all harmonic oscillations while the equilibrium position of the sway motion drifts in the wave direction. The drift speed is proportional to wave steepness when the size of the floating body is comparable to the wavelength, while it is proportional to the square of wave steepness when the floating body is relatively small. In addition, the drift motion leads to a slightly longer oscillation period of the floating body than the wave period of nonlinear wave and the discrepancy increases with the increment of wave steepness. 相似文献
8.
异重流广泛存在于江河入海口附近，速度快、破坏力强，给近海工程的施工作业带来不小的难度。为了研究系泊结构物在异重流作用下的运动响应，基于图像处理技术，采用开闸式异重流模型试验方法，将异重流和结构物作为研究对象。利用图像处理技术处理由高速摄像机拍摄的结构物运动图片，从而获得结构物运动的时历曲线。对比讨论了不同密度比的异重流对结构物运动的影响，同一密度比的异重流对处于不同深度结构物运动的影响。研究结果表明：结构物运动受异重流密度的影响较大，结构物的运动幅值随着密度的增大而增大。处于高密度流体非混合层的结构物受到异重流的作用会产生大幅度的顺时针旋转和正x方向偏移；位置较高的方柱受到淡水的主导作用，会产生逆时针旋转和负x方向偏移。位于盐水与淡水剧烈混合区域的方柱并不会产生单一方向的偏移，而是在平衡位置附近波动。 相似文献
9.
G. De Backer M. Vantorre C. Beels J. De Pré S. Victor J. De Rouck C. Blommaert W. Van Paepegem 《Applied Ocean Research》2009,31(3):143-156
The results of an elaborate experimental investigation on bottom slamming of axisymmetric objects are presented. Drop tests have been performed on a hemisphere and two conical shapes with different deadrise angles. The test setup is designed so as to prevent small rotations of the test objects which cause scatter in the measurement data. The pressure distribution and evolution as well as the body motion parameters are measured during impact. By means of a high speed camera the water uprise is visualized and the wetting factor is determined for the cones. The results are compared with a three-dimensional asymptotic theory for axisymmetric rigid bodies with constant entry velocity. The ratio between the registered peak pressures and the asymptotic theory are in accordance with comparable experiments in the literature. The asymptotic theory, however, is found to be quite conservative, since the measured peak pressure levels appear to be approximately 50% to 75% of the theoretical levels. 相似文献
10.
A new approach to multibody dynamics is investigated by treating floating wind turbines as multibody systems. The system is considered as three rigid bodies: the tower, nacelle and rotor. Three large-amplitude rotational degrees of freedom (DOFs) of the tower are described by 1-2-3 sequence Euler angles. Translation of the entire system is described by Newton’s second Law applied to the center of mass (CM) of the system and transferred to 3 translational DOFs of the tower. Additionally, two prescribed DOFs governed by mechanical control, nacelle yaw and rotor spin, are combined with the 6 DOFs of the tower to formulate the 8-DOF equations of motion (EOMs) of the system. The CM of the system is generally time-varying and not constrained to any rigid body due to the arbitrary location of the CM of each body and relative mechanical motions among the bodies. The location of the CM being independent of any body is considered in both the solution to 3 translational DOFs and the calculation of angular momentum of each body for 3 rotational DOFs. The theorem of conservation of momentum is applied to the entire multibody system directly to solve 6 unknown DOFs. Motions computed using the six nonlinear EOMs are transformed to each body in a global coordinate system at every time-step for use in the computation of hydrodynamics, aerodynamics and restoring forcing, which preserves the nonlinearity between external excitation and structural dynamics. The new method is demonstrated by simulation of the motion of a highly compliant floating wind turbine. Results are verified by critical comparison with those of the popular wind turbine dynamics software FAST. 相似文献
11.
In this paper, vortex-induced vibrations of a cylinder are simulated by use of ANSYS CFX simulation code. The cylinder is treated as a rigid body and transverse displacements are obtained by use of a one degree of freedom spring damper system. 2-D as well as 3-D analysis is performed using air as the fluid. Reynolds number is varied from 40 to 16000 approx., covering the laminar and turbulent regimes of flow. The experimental results of （Khalak and Williamson, 1997） and other researchers are used for validation purposes. The results obtained are comparable. 相似文献
12.
Responses of a four-legged offshore platform to wave forces are analysed by taking account of one torsional motion around the vertical axis which passes the centre of gravity of the structure, and two translational motions in the horizontal plane. Applying the spring-mass system with one degree-of-freedom to each mode of motion, a calculation method for predicting resultant dynamic displacements of the topdeck is developed. Both the inline force and the transverse force are considered as external forces. The calculated results are found to agree with experiments. Furthermore, the influence of seven important factors on the dynamic response is examined by the calculations. It is shown that the combination pattern of the direction factor of the transverse force is of importance in dynamic analysis. 相似文献
13.
为了有效地考虑浮体慢漂运动对钢悬链线立管疲劳损伤的影响,提出了波频和慢漂运动组合作用下钢悬链线立管疲劳损伤简化计算的位置组合叠加法。其核心是:基于浮体慢漂运动概率分布选取若干典型慢漂位置,进行波频运动作用下钢悬链线立管动力响应分析;根据钢悬链线立管运动位置变化特征,截取若干慢漂位置对应的波频应力时程叠加到慢漂应力时程上,得到波频和慢漂运动的组合应力时程;编写基于雨流计数法的MATLAB程序处理立管各节点应力,采用海水环境下Do E.E型S-N曲线和Palmgren-Miner累积损伤准则计算立管各节点疲劳损伤。应用位置组合叠加法对某海域500 m水深的立管进行了疲劳分析,并与全耦合法、权重组合叠加法以及波频和慢漂疲劳损伤简单相加法的结果进行了对比,结果表明该方法具有较高的精度和效率。此外,进行了区域设定系数、波浪高度、波浪周期和土壤表面剪切强度等参数对组合作用下立管疲劳损伤的敏感性分析。 相似文献
14.
基于细长体水动力模型比较了Truss Spar平台在波流联合作用下运动响应预报的三种方法。分别采用波流耦合、速度叠加及力叠加计算Truss Spar平台在波流联合作用下的水动力载荷,根据流场水质点运动规律和Truss Spar外部形状特点,分段高效计算水动力载荷。利用Runge-Kutta-Fehlberg方法求解刚体非线性运动方程得Truss Spar在波流场中的运动响应。研究结果表明力叠加法所预报的Truss Spar纵荡和纵摇运动明显大于其他两种方法的相应运动响应预报结果,而波流耦合法与速度叠加法所预报的纵荡与纵摇运动响应幅值相当,三种方法所预报的垂荡运动响应的大小取决于具体波流参数。 相似文献
15.
非接触式六自由度运动测量与分析方法 总被引：8，自引：2，他引：6
本文提供了一种非接触式六自由度运动测量与分析方法。首先应用位置测量仪（ＰＳＤ）对安置在模型上的红外线发光源（ＬＥＤ）进行测量,然后用所编制的软件计算出模型的六个自由度运动情况。该方法避免了接触式测量仪对模型作用一定的力而产生的误差,同时具有较高的位置解析度与频率响应能力,测量结果精度较高。该方法可同时测量空间三个点的运动坐标从而可用计算机求得模型在空间的六个自由度运动情况。测量与分析结果令人满意。 相似文献
16.
Interactions between water waves and non-wall-sided cylinders are analyzed based on velocity potential theory with fully nonlinear boundary conditions on the free surface and the body surface. The finite element method (FEM) is adopted together with a 3D mesh generated through an extension of a 2D Delaunay grid on a horizontal plane along the depth. The linear matrix equation for the velocity potential is constructed by imposing the governing equation and boundary conditions through the Galerkin method and is solved through an iterative method. By imposing the gradient of the potential equal to the velocity, the Galerkin method is used again to obtain the velocity field in the fluid domain. Simulations are made for bottom mounted and truncated cylinders with flare in a numerical tank. Periodic waves and wave groups are generated by a piston type wave maker mounted on one end of the tank. Results are obtained for forces, wave profiles and wave runups. Further simulations are made for a cylinder with flare subjected to forced motion in otherwise still open water. Results are provided for surge and heave motion in different amplitudes, and for a body moving in a circular path in the horizontal plane. Comparisons are made in several cases with the results obtained from the second order solution in the time domain. 相似文献
17.
抛弃式探头由无人机装载,能够在较远目标区域和危险海域开展海洋水文环境剖面参数的测量。通过安装不同传感器,可以实现对温度、盐度的剖面测量,其深度的测量采用数学方法计算得到。针对双摄像机水箱实验获得的5个不同攻角实验结果,分析了常用的运动目标的检测方法,最终选择基于连续帧间差分法,确定探头的三维坐标位置,进而得到探头下沉运动的三维运动轨迹和速度曲线等信息。探头从水面释放后攻角在下沉过程中不断调整,改变运动姿态,同时伴随自身的旋转,抵消水平方向阻力作用,初始攻角产生的深度测量误差主要体现在加速过程,探头达到匀速运动后测量误差不变,在不考虑横流的情况下,探头最后以匀速垂直下落运动。 相似文献
18.
The hydrodynamic properties of a dual pontoon floating breakwater consisting of a pair of floating cylinders of rectangular section, connected by a rigid deck, is investigated theoretically. The structure is partially restrained by linear symmetric moorings fore and aft. The fluid motion is idealized as linearized, two-dimensional potential flow and the equation of motion of the breakwater is taken to be that of a two-dimensional rigid body undergoing surge, heave and pitch motions. The solution for the fluid motion is obtained by the boundary integral equation method using an appropriate Green's function. Numerical results are presented which illustrate the effects of the various wave and structural parameters on the efficiency of the breakwater as a barrier to wave action. It is found that the wave reflection properties of the structure depend strongly on the width, draft and spacing of the pontoons and the mooring line stiffness, while the excess buoyancy of the system is of lesser importance. 相似文献
19.
The quasi-steady resonant vibration of a flexible seagoing vessel under resonant wave excitation force, called springing, is studied in this paper. A higher-order B-spline Rankine panel method is used to represent the effects of the fluid motion surrounding this flexible seagoing vessel, and a finite element formulation based on Vlasov beam is employed for structural response. The boundary integral equation and finite element equation, both for fluid and structural domains, are fully coupled with each other using an iterative implicit method in the time domain. Coupling between the two field equations is achieved by relying on fixed-point iteration with relaxation aided by Aitken's δ2 process to maximize convergence speed. The steady-unsteady coupling term or m-term in the linearized body boundary condition derived by Timman and Newman is taken into account for accurate prediction of flexible body motion when forward speed is present. The 2nd derivative of basis potential in the m-term is obtained by modifying Nakos approach, which was originally developed using the Stokes theorem for rigid body ship motion problem. For the solution of the FE equation, instead of conventionally used modal superposition method, a direct integration scheme based on Newmark method is employed. It is believed that this technique is more attractive in the sense that it allows us free from the selection of optimum number of mode-shapes in the computation. 相似文献
20.
为研究顺应式海洋平台慢漂运动的影响因素,以截断圆柱和漂浮方箱为例进行了不规则波作用下的慢漂运动模型试验。测量了不同系泊刚度条件下的漂浮方箱以及相同系泊刚度条件下的截断圆柱和漂浮方箱在静水中自由衰减运动和在不规则波中的运动响应,并将运动响应分解成一阶波频运动响应和二阶低频运动响应,分析了系泊刚度和浮体形状对浮体运动的影响。通过物理模型试验发现了系泊刚度及浮体形状对顺应式系泊浮体一阶运动标准差和二阶低频运动平均漂移值和标准差的关系。结果表明由于顺应式浮体的固有周期远离波浪谱峰周期时,系泊刚度以及浮体形状对慢漂运动的一阶运动响应影响不大;二阶低频运动相对偏离平衡位置的平均值和标准差均随系泊刚度增大而减小,浮体形状同样对慢漂运动的二阶低频纵荡运动响应影响较大。试验结果为实际海洋工程的外形选择和系泊刚度选择提供数据支持。 相似文献