共查询到20条相似文献，搜索用时 750 毫秒
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海底底质的物理力学参数不同于陆地土壤,其极低的抗剪强度和承压强度对深海采矿车的行走性能提出高要求。分析基于车辆地面力学理论,开展了底质土力学特性试验研究,建立了深海底质力学模型。根据深海重载作业采矿车样机结构参数,在大型动力学仿真软件Recurdyn中建立了仿真模型。通过直线行走多体动力学仿真与直线行走海试试验的对比,验证了仿真模型的准确性。在此基础上开展了采矿车样机在深海软底质上的多种行走工况动力学仿真,分析与评价其行走性能。结果表明,采矿车样机可以顺利完成转弯、爬坡、越障等基本功能。该研究成果可为深海采矿车海底行走性能评估提供理论参考,为深海采矿车和软底质的相互作用力学研究提供借鉴。 相似文献
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波浪可以为海上航行器提供运动的能量,实现长时间、大范围的机动运动.一般认为波浪能驱动推进机构的水翼的摆角对推进性能有显著影响.本文提出了一种确定波浪驱动机构最优水翼倾角的方法.基于绝对坐标系和Kane方程建立了通用波浪驱动推进机构的动力学模型,确定了模型中波浪产生的推进力组成,采用"机构冻结"的方法,计算了任意时刻水翼... 相似文献
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为预测复杂海底环境下的小型履带式机器人转向运动性能,运用履带与土壤之间的剪切应力-剪切位移关系,考虑履带滑转以及转向离心力因素,并将水中浮力和水阻力参数引入构建履带式机器人深海底质土壤环境下的稳态转向动力学模型。将海底土壤参数、机器人结构参数代入动力学模型迭代求解,分析得到影响海底履带式机器人运动性能的因素。以一款深海小型履带式机器人为研究对象,在动力学仿真软件Recurdyn中构建动力学模型,通过动力学仿真得到的数据与理论计算数据具有较高的一致性,最后通过水池试验对比验证了动力学仿真的正确性。本文提出的稳态动力学模型可以作为海底履带式机器人不同机械结构参数、土壤条件下通过性预测的理论依据。 相似文献
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针对多模态水陆两栖机器人作业环境复杂使得水下运动状态难以预报等难题,基于 CFD 方法求解的水动力系数,构建了机器人水下运动的五自由度动力学和运动学模型。基于机器人水下动力学模型,采用四阶经典龙格库塔法,开展了机器人直航运动及水平面回转运动数值仿真研究,并进行了水池试验验证。 试验结果数据与数值仿真结果误差均不超过 10%,验证了机器人水动力系数及五自由度动力学模型的准确性, 为水陆两栖机器人研制提供了理论与技术支撑。 相似文献
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在研究GPS系统的基础上建立了GPS观测数据的仿真模型,编制了相应的计算机程序。仿真模型包括卫星参数模型、动力学模型和观测误差模型。仿真计算表明,卫星参数模型和动力学模型真实地反映了卫星的运动规律;误差模型反映了观测环境对信号传播的影响。同时可以调节和选择仿真模型的参数,仿真选择了地面静态和地面低动态的观测数据,这对于论证GPS定轨、导航算法、设计GPS接收机等有一定的实用价值。 相似文献
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In this paper an improved mathematical model of a hydro-pneumatic tensioner (HPT) system for top tensioned riser (TTR) is derived by consideration of friction, mass of piston and piston rod, tension loss in hydraulic oil piping, and compressibility of hydraulic oil. The vertical motion of the riser string is also considered. Subsequently, the proposed detailed model and the conventional simplified model are comparatively studied. Finally, the tension characteristic and performance parameters of the HPT are analyzed based on the proposed model. Results show that the conventional simplified model indeed overestimates the tension of tensioner as it neglects some performance parameters resulting in tension loss. The diameters of piston and piston rod and the initial pressure of high pressure (HP) gas have the most significant influence on the tension of the tensioner. The initial volume of HP gas and the initial pressure of low pressure (LP) gas also have some impact. The influence of the initial volume of LP gas and the inner diameter and length of the piping is relatively small. The research has some reference value for HPT and TTR design. 相似文献
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This paper describes a numerical approach to model the dynamic response of a pneumatic floating platform, and the laboratory experiments and parametric study to verify the numerical results. The pneumatic platform is composed of an array of open-bottom vertical cylinders trapping pressurized air that displaces the water. The cylinder diameter is assumed to be small compared to the wavelength and the water inside each cylinder oscillates as a piston. These assumptions simplify the mathematical formulation in that the bottom of the platform can be treated as a continuous surface on which the source distribution method can be applied. In the laboratory experiments, the compressibility and displacement of the trapped air are modeled by a spring and float assembly. The comparison between the numerical and experimental results indicates favorable agreement. The oscillation of the water columns and the overall dynamic characteristics of the platform are illustrated and discussed in the parametric study. 相似文献
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《中国海洋工程》2020,(4)
Vortex-induced vibration(VIV) for flexible cylinders under combined uniform and oscillatory flow is a challenging and practical issue in ocean engineering. In this paper, a time domain numerical model is adopted to investigate the characteristics of cross-flow VIV response and fatigue damage under different combined flow cases. Firstly, the adopted VIV model and fatigue analysis procedure are validated well against the published experimental results of a4-m cylinder model under pure oscillatory flows. Then, forty-five combined flow cases of the same cylinder model are designed to reveal the VIV response characteristics with different non-dimensional oscillation period T* and combined ratio r. The combined flow cases are classified into three categories to investigate the effect of r on cylinder's dynamic response, and the effect of T* is described under long and short period cases. Finally, fatigue analysis is carried out to investigate how the structural fatigue damage varies with the variations of r and T*. The captured characteristics of structural response and fatigue damage are explained through the VIV mechanism analysis. 相似文献
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A new technology of offshore oil rod pumping production is developed for offshore heavy oil recovery. A new type of miniature hydraulic pumping unit with long-stroke, low pumping speed and compact structure is designed based on the spatial characteristics of offshore platforms. By combining the strengths of sinusoidal velocity curve and trapezoidal velocity curve, a kinematical model of the acceleration, the velocity and displacement of the pumping unit''s hanging point is established. The results show that the pumping unit has good kinematic characteristics of smooth motion and small dynamic load. The multi-degree-of-freedom dynamic model of the single-well pumping unit is established. The first and second order natural frequencies of the sucker rod string subsystem and the pumping unit subsystem are studied. The results show that the first and the second order natural frequencies among the pumping rod string, pumping unit-platform subsystem and the dynamic excitation have differences over 5 times from each other, indicating that resonance phenomenon will not appear during the operation and the dynamic requirements for field use are met in the system. 相似文献
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Consideration is given to the design of underwater acoustic projector transducers for communication purposes. Particular interest is focused upon broadband designs which provide the potential for high data-rate communication. The author introduces the underlying physics of sound propagation in solid-bar and disc structures typically used for manufacturing underwater acoustic transducers. The variability of sound speed with bar dimensions, in bar resonators, is discussed. Consideration is given to the nature and identification of different modal states in such structures. The possibilities and limitations in modeling and design are reviewed. An examination is made of several specific designs, including thin-disc and broadband high-frequency transducers as well as piston and tonpilz structures modified electrically and mechanically to produce broad, controlled passband responses. A variety of more exotic structures is also included. Attention is given to arrays of transducers and, particularly, to the problems involved in overcoming element interaction and inadequacies in element behavior 相似文献
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针对小规模海水淡化需要解决能量回收装置的能回效率与空间问题,将能量回收装置与压力提升泵进行集成一体化设计,研究了一种双缸耦合阀控式能量回收系统。系统两液压缸内活塞各由一个电动推杆推动,叠加高压浓海水压力实现压力交换,同时进行活塞推力的耦合控制,避免了压力交换过程中活塞的压力脉冲波动,保障了反渗透膜工作压力稳定;基于小型海水淡化装置,根据压力能流反渗透工艺节点压力流进行了计算分析,得出电动推杆推力压力0.5 MPa左右的补偿压力曲线。通过AMESim进行液压仿真分析,结果表明在系统回收率为30%,高压浓海水进口压力为4.8 MPa,增压海水压力4.6 MPa的情况下,通过压力补充增压海水压力可增压到5.0 MPa,反渗透膜压力与流量波动较小,满足反渗透海水淡化的压力需求。 相似文献
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Dynamic Response Analysis for Embedded Large-Cylinder Breakwaters Under Wave Excitation 总被引：4，自引：0，他引：4
1 .IntroductionThestaticmethodsarecommonlyusedinthestabilityanalysisofembeddedlarge cylinderbreak waters .Thestaticanalysismodelscanbedividedintotwocategories :simplifiedmodels (Zhouetal.,1 995;WangandZhu ,2 0 0 2 )andfiniteelementmodels (MengandWang ,1 999) .Thesimplifiedmodelsinheritthetraditionalengineeringexperiencesandareconvenienttouseinengineeringprac tice.However,itisdifficultforthesimplifiedmodelstodepictthegeometricandphysicalpropertiesofastructure soilsystemprecisely .Thefiniteel… 相似文献
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When a high-speed body with cavity passes through water-air free surface and exits water, its mechanical environment and dynamic characteristics change significantly due to the great difference in density and viscosity between water and air. With focusing on this problem, the Computational Fluid Dynamics (CFD) method is applied to perform numerical calculation on the process of this vapor-liquid-gas flow during the water exit of a high-speed cylinder, with the Volume of Fraction (VOF) multiphase flow interface-capturing techniques and the overset grid technology. After the verification and validation of the CFD model through mesh convergence study and a water-entry experiment, cavity evolution and flow characteristics including pressure and velocity distribution during the water exit are analyzed. The effects of different initial velocities on the pressure distribution and drag characteristics of the cylinder are investigated. Calculated results show that the cavity collapse during water exit causes strong pressure fluctuation on the cylinder; when the cylinder exits water enveloped in a supercavity, the pressure distribution on its wall surface and surrounding water region is relatively uniform, and the drag changes gently, and thus the cylinder has good motion stability.
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The fluid force coefficients on a transversely oscillating cylinder are calculated by applying two-dimensional large eddy simulation method. Considering the “jump” phenomenon of the amplitude of lift coefficient is harmful to the security of the submarine slender structures, the characteristics of this “jump” are dissertated concretely. By comparing with experiment results, we establish a numerical model for predicting the jump of lift force on an oscillating cylinder, providing consultation for revising the hydrodynamic parameters and checking the fatigue life scale design of submarine slender cylindrical structures. 相似文献
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The behavior of vortex-induced vibration of a two-degree-of-freedom cylinder near a deformable wall in steady flow is investigated experimentally.The typical phenomenon of the two-degree-of-freedom cylinder’s VIV is discussed.The influences of initial gap between the cylinder and the wall on the dynamic responses of the cylinder are analyzed.The comparison is made about dynamic responses of the cylinder with one and two degrees of freedom.Experimental results show that the vibration of the cylinder near a deformable wall with a small value of initial gap-to-diameter ratios can generally be divided into two phases.The initial gap-to-diameter ratios have a noticeable influence on the occurrence of transverse vibration.The transverse maximum amplitude of the cylinder with two degrees of freedom is larger than that of the cylinder with one degree of freedom under the condition with the same values of other parameters.However,the vibration frequency of the cylinder for the two degrees of freedom case is smaller than that for the one degree of freedom case at the same value of Vr number. 相似文献