细长潜器在内孤立波作用下大幅运动的轨迹和姿态

doi:10.12382/bgxb.2023.0313

摘要/Abstract

摘要：

海洋内部的大幅内孤立波可能会威胁到潜器的航行稳定性和安全性,为探究潜器迎面遭遇内孤立波时的运动特性,建立两层流中细长潜器结构在内孤立波作用下的大幅运动时域求解模型。考虑潜器各运动自由度耦合引起的非线性作用力,潜器受到的内孤立波力采用Morison方程和Froude-Krylov力计算,由内孤立波传播引起的静力变化通过对潜器表面静压强积分计算。通过与计算流体力学数值仿真结果和物理模型试验结果对比验证模型的精度,并计算SUBOFF潜器在两层流中不同潜深、不同航速时迎面遭遇KdV型内孤立波后的运动轨迹和姿态。数值仿真结果表明:内孤立波作用下,位于密度分层界面上方和分层界面处的潜器沿内孤立波传播方向运动,位于密度分层界面下方的潜器逆着内孤立波传播方向运动;垂向上潜器会发生大幅掉深,且先下沉再上浮;不同潜深、航速下潜器表现出不同的运动轨迹和姿态。

关键词: 潜器, 内孤立波, 非线性作用力, 运动轨迹, Morison方程

Abstract:

The large internal solitary waves inside the ocean may pose a threat to the navigation stability and safety of a submarine. A time-domain solution model for the large motion of the slender submarine structure under the internal solitary waves in two-layer flow is established to explore the motion response characteristics of submarine when encountering the internal solitary waves head-on. The nonlinear forces caused by the coupling of various degrees of freedom motions are considered in the model, the internal solitary wave forces are calculated by Morison equation and Froude-Krylov force, and the static changes caused by the propagation of internal solitary wave are calculated by integrating the static pressure on the surface of submarine. The accuracy of the proposed model is verified by comparing with experimental results of physical models and computational fluid dynamics numerical results, and the motion trajectories and attitudes of SUBOFF submarine at different depths and speeds in two layers of flow are calculated by this model. The numerical results show that, under the action of internal solitary waves, the submarines above and at the density layered interface move along the propagation direction of internal solitary waves, the submarine below the density layered interface moves against the propagation direction of internal isolated waves; Vertically, the submarine will experience a significant drop in depth, and it sinks first and then floats. The submarine shows different trajectories and attitudes at different depths and speeds.

Key words: submarine, internal solitary wave, nonlinear force, motion trajectory, Morison equation

中图分类号:

O352
TV139.2

刘忻丹, 勾莹, 滕斌. 细长潜器在内孤立波作用下大幅运动的轨迹和姿态[J]. 兵工学报, 2024, 45(6): 1854-1865.

LIU Xindan, GOU Ying, TENG Bin. Trajectories and Attitudes of a Slender Submarine with Large Amplitude Motions under the Action of Internal Solitary Waves[J]. Acta Armamentarii, 2024, 45(6): 1854-1865.

图/表 15

图1 坐标系及参数定义

Fig.1 Coordinate system and parameter definition

图2 潜器运动的坐标系

Fig.2 Coordinate system of submarine motion

表1 CD和CM规范建议值

Table 1 Recommended values of CD and CM

各国规范	中国海港水文规范(2013)	美国API规范 (1981)	挪威DNV规范 (1974)
C_D	1.2	0.6~1.0	0.5~1.2
C_M	2.0	1.5~2.0	2.0

图3 水质点水平速度理论值与实验值的对比结果

Fig.3 Comparison between theoretical and experimental values of horizontal velocity of water particle

图4 潜器的运动响应实验结果与数值结果对比

Fig.4 Comparison of experimental and numerical results on the motion response of submarine

图5 内孤立波波面对比

Fig.5 Wavefront comparison of internal solitary wave

图6 潜器的垂向力对比

Fig.6 Vertical force comparison of submarine

表2 内孤立波特征参数

Table 2 Characteristic parameters of internal solitary waves

参数	数值
h₁/m	180
h₂/m	2820
ρ₁/(kg·m^-3)	1025
ρ₂/(kg·m^-3)	1028
η₀/m	-120

图7 内孤立波流场的速度矢量图

Fig.7 Velocity vector graph of internal solitary wave flow field

图8 工况1下考虑与不考虑内孤立波力中的耦合项的数值结果对比

Fig.8 Comparison of numerical results considering and not considering the coupling term in internal solitary wave forces in Case 1

图9 工况2下考虑与不考虑内孤立波力中的耦合项的数值结果对比

Fig.9 Comparison of numerical results considering and not considering the coupling term in internal solitary wave forces in Case 2

图10 不同潜深下潜器的运动轨迹及姿态

Fig.10 Motion trajectories and pitch angles of submarine at different depths

图11 不同潜深潜器在内孤立波流场中的运动过程

Fig.11 Movement process of the submarine at different depths in internal solitary wave flow field

图12 不同航速下潜器的垂向力及力矩

Fig.12 Vertical forces and torques on the submarine at different speeds

图13 不同航速下潜器的运动轨迹及纵倾角

Fig.13 Motion trajectories and pitch angles of submarine at different speeds

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