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1.
波浪作用下缆船拖带系统非线性运动数值模拟 总被引：1，自引：0，他引：1
基于船舶操纵性运动方程和拖缆的三维动力学运动方程,提出了被拖点位置匹配的方法,建立了拖船—拖缆—被拖船系统整体非线性拖带动力学模型。为了考察被拖船航向稳定性与横向稳性的关系以及波浪载荷作用的影响,被拖船采用水平面四自由度运动方程,并引入了波浪的作用力和力矩。拖船采用PD控制方法较真实地模拟了拖船航向改变的运动过程。对一个拖船—拖缆—被拖船系统(5 000 t的拖船和3 000 t的被拖船)在时域内进行了规则波浪作用下拖带运动的模拟,计算结果表明被拖带船舶在波浪中运动呈现运动稳定、不稳定和临界状态3种可能的特性。根据模拟计算结果,认为波浪中拖带航向稳定是被拖带船舶保持稳性的必要条件。 相似文献
2.
The behavior of a long cable towed at slow speeds through the ocean depends in a complex fashion on the path followed by the towing ship relative to the water. A cable simulation program was used to characterize the response of the cable by using idealized towing ship maneuvers as input to the program. The response of the cable was noted and it was found that the behavior of the cable was strongly dependent on the fundamental period of the towing vessel maneuvers. Sinusoidal deviations of the towing ship from a straight towing track resulted in delayed and reduced excursions of the towed vehicle from the tract; the estimated response ratio varied from 0·002 to 0·800, depending both on the period of the deviations (periods ranged from 5·5 to 4·0 hr) and on the towing depth (2 or 6 km). The ship's speed was 3 km/hr. The time lag between ship motion and vehicle response was approximately 0·5 hr for the shallow case and 1·3 hr for the deep case. Simulations runs of a low dragk (faired) cable showed that the behavior of the vehicle when towed at a depth of 6 km was similar to that obtained with a conventional cable at 2 km depth. The response of the towed vehicle to a right-angle turn of the towing ship was investigated and a generalized model of the response developed. The effects of a controllable side force on the towed vehicle were also simulated and it was noted that a deviation (2-hr period) of the towed vehicle from a straight-line track could be reduced from 40 to 2 m by impressing a side force on the vehicle with an average magnitude of 150 newtons (30 lb). 相似文献
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In this paper,the dynamic response of undersea -+towed systems is numerically simulated.Atwo body towed system is especially considered in detail.The factors influencing the heave oftowed-bodies,such as the weight of the towed-body(in sea water),the length and the weight(in sea water)per unit length of the cable between towed-bodies and towing ship,are investigated in detail.Calculationsshow that the two-body towed system can greatly increases the stability of the towed system. 相似文献
5.
A three-dimensional model of a two-part underwater towed system is studied. In the model, the governing equations of cables are established based on the Ablow and Schechter method. The boundary conditions for the two-part underwater towed system are derived. The six-degrees-of-freedom equations of motion for submarine simulations are adopted to predict the hydrodynamic performance of a towed vehicle. The established governing equations for the system are then solved using a central finite difference method. In this paper several algorithms are used to solve this special form of finite difference equations. The results in this paper indicate that the two-part underwater towed system improves the dynamic behavior of the towed vehicle and is an easy way to decouple the towing ship motion from the towed vehicle. Because the model uses an implicit time integration, it is stable for large time steps and is an effective algorithm for simulation of a large-scale underwater towed system. 相似文献
6.
D.A. Chapman 《Ocean Engineering》1984,11(1):23-64
The hydrodynamic forces and moments that act on a towed fish are described and related to fundamental static and dynamic towing characteristics. It is shown that, when the fin height is reduced almost to the point giving neutral stability in pitch, the fish maintains almost constant pitch attitude while it is forced to heave or surge by ship motion transmitted down the cable.Wind tunnel tests provide the necessary hydrodynamic data for a computer simulation in two dimensions of the Bath Mk 3 sonar fish towed on faired cable. The results show that the magnitude of the pitch attitude variations of the fish can be greatly reduced by decreasing the fin size, with further reduction being possible by correctly locating the pointwhere the cable is attached to the fish. It is also shown that decreasing the fin size reduces the magnitude of the tension variations in the cable, thereby lowering the probability that the cable will go slack.These results generalise to a large class of towed systems using either or bare cable, and a formula is included by which the magnitude of the ship-inducing pitching motion of a fish can be estimated, given the necessary hydrodynamic data.Possible difficulties associated with towing a low stability fish are considered and a method is included for assessing the minimum stability likely to be necessary to achieved satisfactory towing behaviour. 相似文献
7.
水下拖缆物理参数不均匀会影响拖缆的动力特性,研究非均匀拖缆的参数变化对拖缆动力特性的影响有一定的工程实际意义。建立了拖曳系统运动的三维数学模型,推导出了水下非均匀拖缆的稳态运动控制方程,在首尾两端加上相应的定解条件,直接求得或使用嵌套二分法求得非均匀拖缆在端点的初始值,进而求解稳态动力学方程。借助文献中的拖缆—海底拖车系统算例,通过计算结果的对比,验证了数学模型及计算方法的正确性。通过四阶龙格库塔法进行数值仿真计算,得到了稳态解,分析了非均匀拖缆自身物理参数变化对缆绳系统稳态运动的影响。结果表明,非均匀拖缆的切向阻力系数、法向阻力系数、直径和密度变化会影响稳态缆形和张力分布,影响的程度各不相同。最后给出了两个尾拖船系统非均匀拖缆的稳态运动算例。 相似文献
8.
Hae-Hoon Park 《Ocean Engineering》1993,20(2)
An indirect tension measurement method of a towing cable in midwater or a buoy cable is proposed using underwater acoustic positioning systems, etc., to give the in-water cable tension. The most simple and traditional cable tension measurement method is to apply a mechanical tension meter at the one end of the cable, but the method has limits in the aspects of continuous monitoring and manual operation. However, the technique in this study is to apply the Pode's analysis of the equilibrium configuration and tension of a flexible twine, in which the cable tension is given as a function of the geometric positions of both ends of the cable. A set of nonlinear integral equations is formulated and solved numerically by the Newton-Raphson method. Then the inclination angles and the tensions at the lower and the upper ends of the cable could be obtained. The derived method enables us to track a towed object, to measure the tension of a towing cable or a buoy cable and is also applicable to the remotely operated vehicle (ROV) tethered to a mother ship. 相似文献
9.
For accurate prediction of the deformation of cable in the towed system, a new finite element model is presented that provides a representation of both the bending and torsional effects. In this paper, the cubic spline interpolation function is applied as the trial solution. By using a weighted residual approach, the discretized motion equations for the new finite element model are developed. The model is calculated with the computation program complier by Matlab. Several numerical examples are presented to illustrate the numerical schemes. The results of numerical simulation are stable and valid, and consistent with the mechanical properties of the cable. The model can be applied to kinematics analysis and the design of ocean cable, such as mooring lines, towing, and ROV umbilical cables. 相似文献
10.
The mechanical cable is an essential element in towing operations, remote control of equipment, salvage operations, civil engineering applications, etc.Failure of these cables can result in loss of life and loss of equipment worth hundreds of thousands of dollars. Obviously then, sensors that can indicate the condition of these cables so that the risk to their continued use and their remaining safe life can be determined when in operation are very important from the point of view of commercial and military interest.This paper presents a brief review of research into failure mechanisms of various cables and the acoustic emission signatures of the various cables under simulated loading. The development of a specific operational monitor for a towed cable system is also given. 相似文献
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An experimental set-up is developed and proved to be effective for laboratory study of an underwater towed system. The experimental technique gives a practical method for monitoring the kinematic and dynamic performance of an underwater towed system in a ship towing tank. Both the theoretical and experimental results in the investigation indicate that the hydrodynamic response of a towed vehicle to the wave induced motion of a towing ship can be significantly reduced by applying a two-part tow method. A comparison of the numerical and experimental results in the investigation demonstrates that the numerical simulation results are close to the experimental data, overall agreement between experimental and theoretical results is satisfactory. The results qualitatively verify the mathematical model of a two-part underwater towed system proposed by Wu and Chwang [Wu, J., Chwang, A.T., 2000. A hydrodynamic model of a two-part underwater towed system. Ocean Engineering 27 (5), 455–472]. 相似文献
13.
Recent progress in towed hydrophone array research 总被引：1，自引：0，他引：1
Lasky M. Doolittle R.D. Simmons B.D. Lemon S.G. 《Oceanic Engineering, IEEE Journal of》2004,29(2):374-387
Since World War I, various attempts have been made to minimize own ship noise by towing hydrophones at the end of long cables. Recently, because of advances in technology (such as improved cables and low-noise transistors) as well as improved understanding of the hydrodynamics of tow, most of the problems limiting this technique in the past have been overcome. This report summarizes past and recent effort and presents a digest of the more recent results. These results were obtained as part of a program to determine how hydrophones could be moved through the sea with minimal self noise, i.e., without machinery or flow-caused-noise radiated from own ship structure. The most successful units to date are called "Towflex." These consist of special hydrophones in flexible oil-filled hoses. When towed from a surface ship by cables up to 8000 feet long, at depths to 1200 feet, and at speeds up to 13 knots, these units show lower or equivalent self-noise levels than reported on quiet submarines for the same speed. For frequencies of 20 to 500 cps, Towflex units are generally quieter - in the order of 10 to 15 decibels at 6 knots - and for the frequencies of 500 to 10000 cps, the levels are similar. There are indications that even with these units, flow noise will be a major problem starting at about 10 knots. 相似文献
14.
Dynamic Analysis of Towed and Variable Length Cable Systems 总被引：2，自引：3，他引：2
Towed cable systems are frequently used in marine measurements where the length of the towed cable varies during launch and recovery. In this paper a novel method for modeling variable length cable systems is introduced based on the finite segment formulation. The variable length of the towed cable is described by changing the length of the segment near the towing point and by increasing or decreasing the number of the discrete segments of the cable. In this way, the elastic effects of the cable can be easily handled since geometry and material properties of each segment are kept constant. Experimental results show that the dynamic behavior of the towed cable is consistent between the model and the physical cable. Results show that the model provides numerical efficiency and simulation accuracy for the variable length towed system. 相似文献
15.
D.A. Chapman 《Ocean Engineering》1982,9(3):189-220
Digital computer simulation in two dimensions of a neutrally-stable fish towed on a faired cable has been used to investigate the response of the fish to disturbances in the ship motion. The numerical methods used are described broadly, excluding mathematical detail, and selected results are presented which indicate typical behaviour of the system.The free oscillations of the fish-cable system and its response to deterministic and random ship disturbances are investigated. This reveals the dynamic principles governing the motion and allows the formulation of simple rules to give a first approximation to the magnitude of the fish response. It is shown that, provided resonances of the ship and fish-cable system do not coincide, the overall amplitude of motion of the fish is proportional to the sine of the angle made by the top of the cable with the horizontal. Formulae are given for calculating approximately the resonant frequencies of the towed system. 相似文献
16.
V. A. Blinkov 《Physical Oceanography》1999,10(2):183-192
We describe the characteristics of a towed complex used for measurements in the upper layer of the ocean under the conditions
of periodic deepening and lifting (scanning) of a carrier with sensors connected with the ship by a weight-carrying cable
of constant lengt. For a maximum scanning range of 0–200 m and a towing speed of up to 12 knots, the measurements were performed
every 1.5–2.0 km. The minimum vertical scale of recorded temperature and conductivity inhomogeneities is 0.05–0.08 m. We present
the results of measurements carried out by the towed complex in a section of the frontal zone in the north-east part of the
Tropical Atlantic.
Translated by Peter V. Malyshev and Dmitry V. Malyshev 相似文献
17.
针对海洋测量水下拖曳设备位置确定问题,综合考虑拖缆受力、海流影响以及水下拖体的运动性质,建立了水下拖曳设备的位置计算模型,并仿真计算分析了测量船在不同航行状态下拖曳设备位置确定的规律,探讨了不同海流效应对拖曳设备位置确定的影响。仿真计算结果表明,在海洋动态环境作用下,拖缆各方向的偏移明显呈曲线形状,非简单几何运算所确定。测船各方向的运动均可对水下拖体的位置在相应方向产生一定影响,而水下拖体位置的变化量小于测船拖点位置的变化量。海流对水下拖曳设备定位可造成数米的偏差,需进行相应改正。建议可考虑采取船载式ADCP实时测流辅助水下拖曳设备定位的工作模式。 相似文献
18.
D.A. Chapman 《Ocean Engineering》1984,11(4):327-361
The results of dynamic and steady-state cable simulations are used to show that a towed system can behave in either of two different ways on entering a turn. In a large radius turn the system maintains its straight-tow equilibrium configuration but in a slightly perturbed form. In a turn of small radius the system effectively collapses resulting in a large increase of fish depth and cable tension. A formula is included by which the approximate minimum radius of turn that does not precipitate collapse can be quickly calculated.Non-dimensional tables are presented giving details of the equilibrium configuration adopted by the cable when the ship maintains a circular course.Graphs are presented from which the time constants for the decay of lateral and longitudinal disturbances of 2-D cable profiles can be easily calculated. These can be used to estimate the time taken for a towed system to return to equilibrium following a manoeuvre.The derivation of the equations for the steady-state configurations and the time constants are included in appendices. 相似文献
19.
D.A. Chapman 《Ocean Engineering》1984,11(6):627-654
The lateral motions of roll, yaw and sway of a heavy towed fish are investigated. Perturbation lateral ship motion propagates down the cable as a damped wave and non-dimensional tables are provided that allow the attenuation of the motion to be estimated. The tables are supplemented by a short BASIC computer program for calculations outside the tabular range.Three-dimensional dynamic simulation of the Bath Mk 3 Sonar Fish is used to establish the effects of fish weight, towstaff length and vertical fin size on the amplitude of rolling and yawing motion. It is shown that very careful adjustment of fin size can reduce the amplitude of yawing motion by a factor of about 3. It is also shown that attaching the cable to the fish with a towstaff free to pivot only in pitch improves the towing properties of the fish and reduces the amplitude of rolling motion. 相似文献
20.
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