A Modified Logvinovich Model For Hydrodynamic Loads on an Asymmetric Wedge Entering Water with a Roll Motion

The water entry problem of an asymmetric wedge with roll motion was analyzed by the method of a modified Logvinovich model (MLM). The MLM is a kind of analytical model based on the Wagner method, which linearizes the free surface condition and body boundary condition. The difference is that the MLM applies a nonlinear Bernoulli equation to obtain pressure distribution, which has been proven to be helpful to enhance the accuracy of hydrodynamic loads. The Wagner condition in this paper was generalized to solve the problem of the water entry of a wedge body with rotational velocity. The comparison of wet width between the MLM and a fully nonlinear numerical approach was given, and they agree well with each other. The effect of angular velocity on the hydrodynamic loads of a wedge body was investigated.

Nonparametric Identification of Nonlinear Added Mass Moment of Inertia and Damping Moment Characteristics of Large-Amplitude Ship Roll Motion

This study aims to investigate the nonlinear added mass moment of inertia and damping moment characteristics of largeamplitude ship roll motion based on transient motion data through the nonparametric system identification method.An inverse problem was formulated to solve the first-kind Volterra-type integral equation using sets of motion signal data.However,this numerical approach leads to solution instability due to noisy data.Regularization is a technique that can overcome the lack of stability;hence,Landweber’s regularization method was employed in this study.The L-curve criterion was used to select regularization parameters(number of iterations)that correspond to the accuracy of the inverse solution.The solution of this method is a discrete moment,which is the summation of nonlinear restoring,nonlinear damping,and nonlinear mass moment of inertia.A zero-crossing detection technique is used in the nonparametric system identification method on a pair of measured data of the angular velocity and angular acceleration of a ship,and the detections are matched with the inverse solution at the same discrete times.The procedure was demonstrated through a numerical model of a full nonlinear free-roll motion system in still water to examine and prove its accuracy.Results show that the method effectively and efficiently identified the functional form of the nonlinear added moment of inertia and damping moment.

Mathematical Modelling of Response Amplitude Operator for Roll Motion of a Floating Body：Analysis in Frequency Domain with Numerical Validation

This paper investigates mathematical modelling of response amplitude operator （RAO） or transfer function using the frequency-based analysis for uncoupled roll motion of a floating body under the influence of small amplitude regular waves. The hydrodynamic coefficients are computed using strip theory formulation by integrating over the length of the floating body. Considering sinusoidal wave with frequency （ω ） varying between 0.3 rad/s and 1.2 rad/s acts on beam to the floating body for zero forward speed, analytical expressions of RAO in frequency domain is obtained. Using the normalization procedure and frequency based analysis, group based classifications are obtained and accordingly governing equations are formulated for each case. After applying the fourth order Runge-Kutta method numerical solutions are obtained and relative importance of the hydrodynamic coefficients is analyzed. To illustrate the roll amplitude effects numerical experiments have been carried out for a Panamax container ship under the action of sinusoidal wave with a fixed wave height. The effect of viscous damping on RAO is evaluated and the model is validated using convergence, consistency and stability analysis. This modelling approach could be useful to model floating body dynamics for higher degrees of freedom and to validate the result.

Fluid Resonance Between Twin Floating Barges with Roll Motion Under Wave Action

The wave-induced fluid resonance between twin side-by-side rectangular barges coupled with the roll motion of the twin barges is investigated by both numerical simulation and physical model test.A 2D numerical wave flume,based on an open source computational fluid dynamics(CFD)package OpenFOAM,is applied for the numerical simulation.After numerical validations and convergent verifications,the characteristics of the fluid resonance in the gap between the twin rolling side-by-side barges are examined.The resonant frequency of the oscillating fluid in the gap between the twin rolling barges decreases compared with that between the twin fixed barges.Generally,the twin barges roll in the opposite directions,and their equilibrium positions lean oppositely with respect to the initial vertical direction.A physical model test is carried out for a further investigation,in which the twin barges are set oppositely leaning and fixed.From the present experimental results,a linear decrease of the resonant frequency with the increasing leaning angle is found.Combined with the numerical results,the deflection of the equilibrium positions of the twin barges is a relevant factor for the resonant frequency.Besides,the effects of the gap width and incident wave height on the fluid resonance coupled with roll motion are examined.

Roll Motion Analysis of Deepwater Pipelay Crane Vessel

For a large floating vessel in waves,radiation damping is not an accurate prediction of the degree of roll unlike other degrees of freedom motion.Therefore,to get the knowledge of roll motion performance of deepwater pipelay crane vessels and to keep the vessel working safety,the paper presents the relationship between a series of dimensionless roll damping coefficients and the roll response amplitude operator(RAO).By using two kinds of empirical data,the roll damping is estimated in the calculation flow.After getting the roll damping coefficient from the model test,a prediction of roll motion in regular waves is evaluated.According to the wave condition in the working region,short term statistics of roll motion are presented under different wave parameters.Moreover,the relationship between the maximal roll response level to peak spectral wave period and the roll damping coefficient is investigated.Results may provide some reference to design and improve this kind of vessel.

Experimental investigation of influence of strake wings on self-induced roll motion at high angles of attack

The modern high performance air vehicles are required to have extreme maneuverability,which includes the ability of controlled maneuvers at high angle of attack. However, the nonlinear and unsteady aerodynamic phenomena, such as flow separation, vortices interaction, and vortices breaking down, will occur during the flight at high angle of attack, which could induce the uncommanded motions for the air vehicles. For the high maneuverable and agile air missile, the nonlinear roll motions would occur at the high angle of attack. The present work is focused on the selfinduced nonlinear roll motion for a missile configuration and discusses the influence of the strake wings on the roll motion according to the results from free-to-roll test and PIV measurement using the models assembled with different strake wings at a = 60°. The free-to-roll results show that the model with whole strake wings(baseline), the model assembled with three strake wings(Case A)and the model assembled with two opposite strake wings(Case C) experience the spinning, while the model assembled with two adjacent strake wings(Case B), the model assembled with one strake wing(Case D) and the model with no strake wing(Case E) trim or slightly vibrate at a certain "×"rolling angle, which mean that the rolling stability can be improved by dismantling certain strake wings. The flow field results from PIV measurement show that the leeward asymmetric vortices are induced by the windward strake wings. The vortices would interact the strake wings and induce crossflow on the downstream fins to degrade the rolling stability of the model. This could be the main reason for the self-induced roll motion of the model at a = 60°.

Experimental and numerical investigation of the roll motion behavior of a floating liquefied natural gas system

The present paper does an experimental and numerical investigation of the hydrodynamic interaction and the response of a single point turret-moored Floating Liquefied Natural Gas(FLNG) system,which is a new type of floating LNG(Liquid Natural Gas) platform that consists of a ship-type FPSO hull equipped with LNG storage tanks and liquefaction plants.In particular,this study focuses on the investigation of the roll response of FLNG hull in free-decay motions,white noise waves and also in irregular waves.Model tests of the FLNG system in 60%H filling condition excited by both white noise waves and irregular waves combined with steady wind and current have been carried out.Response Amplitude Operators(RAOs) and time histories of the responses are obtained for sway,roll and yaw motions.Obvious Low Frequency(LF) components of the roll motions are observed,which may be out of expectation.To facilitate the physical understanding of this phenomenon,we filter the roll motions at the period of 30 s into two parts:the Wave Frequency(WF) motions and the Low Frequency(LF) motions respectively.The results indicate that the LF motions are closely related to the sway and yaw motions.Possible reasons for the presence of the LF motions of roll have been discussed in detail,through the comparison with the sway and yaw motions.As for the numerical part,the simulation of the modeled case is conducted with the help of the software SESAM.A good agreement between experiments and calculations is reported within the scope of trends.However,the numerical simulations should be further improved for the prediction of the FLNG system in the heading sea.

Probability density function solution to nonlinear ship roll motion excited by external Poisson white noise

The stationary probability density function (PDF) solution to nonlinear ship roll motion excited by Poisson white noise is analyzed. Subjected to such random excitation, the joint PDF solution to the roll angle and angular velocity is governed by the generalized Fokker-Planck-Kolmogorov (FPK) equation. To solve this equation, the exponential-polynomial closure (EPC) method is adopted. With the EPC method, the PDF solution is assumed to be an exponential-polynomial function of state variables. Special measure is taken such that the generalized FPK equation is satisfied in the average sense of integration with the assumed PDF. The problem of determining the unknown parameters in the approximate PDF finally results in solving simultaneous nonlinear algebraic equations. Both slight and high nonlinearities are considered in the illustrative examples. The analysis shows that when a second-order polynomial is taken, the result of the EPC method is the same as the one given by the equivalent linearization (EQL) method. The EQL results differ significantly from the simulated results in the case of high nonlinearity. When a fourth-order or sixth-order polynomial is taken, the results of the EPC method agree well with the simulated ones, especially in the tail regions of the PDF. This agreement is observed in the cases of both slight and high nonlinearities.

Estimation of Rolling Motion of Ship in Random Beam Seas by Efficient Analytical and Numerical Approaches

A steady-state roll motion of ships with nonlinear damping and restoring moments for all times is modeled by a second-order nonlinear differential equation.Analytical expressions for the roll angle,velocity,acceleration,and damping and restoring moments are derived using a modified approach of homotopy perturbation method(HPM).Also,the operational matrix of derivatives of ultraspherical wavelets is used to obtain a numerical solution of the governing equation.Illustrative examples are provided to examine the applicability and accuracy of the proposed methods when compared with a highly accurate numerical scheme.

Rolling motion behavior of rockfall on gentle slope:an experimental approach

The effects of slope surface material, slope gradient, block shape, and block mass conditions on rockfall rolling velocity were estimated with orthogonal test approach. Visual analysis shows that the importance of the factors is slope surface material > slope gradient > block shape > block mass. All the factors except block mass have the F value greater than the critical value, suggesting that these three factors are the key factors affecting the rockfall rolling velocity. Factor interaction analysis shows that the effect of the slope gradient relies largely on the slope surface conditions, and the block shape has little influence if the slope gradient is larger than a critical value. An empirical model considering the three key factors is proposed to estimate the rolling velocity, of which the error is limited to 5% of the testing value. This model is validated by 73 field tests, and the prediction shows excellent correlation with the site test. Thus, this analysis can be used as a tool in the rockfall behavior analysis.

Effects of Lateral Motion on the Creep Forces in Wheel/Rail Rolling Contact

The influences of the lateral motion of a single wheelset running on a tangent railway on the creepages and creep forces between wheel and rail are investigated with numerical methods. The effect of the yaw motion of wheelset is neglected in the analysis, and Kalker’s theory of three dimensional elastic bodies in rolling contact is employed to analyze the creep forces in the wheel/rail rolling contact with Non Hertzian form.

波浪作用下小尺度多船并排锚泊横摇运动试验研究

采用物理模型试验方法研究双船、三船和四船并排锚泊时各船的运动量,并与单船艏艉锚泊情况进行了对比,重点分析了横浪作用下各船的横摇运动规律,探究了波浪周期和并排锚泊船数对多船并排锚泊时横摇运动的影响。结果表明,多船并排锚泊时,横摇运动响应随着波浪周期的增大而逐渐减小。双船并排锚泊时,横摇运动响应同单船相比减少了40%~50%;三船和四船并排锚泊时,横摇运动响应同单船相比减少50%~60%,四船并排锚泊时横摇运动响应减小的幅度与三船并排时相比差别不大。

摇摆条件下棒束通道自然循环换热特性实验研究

棒束燃料组件是浮动堆的燃料形式之一,浮动堆在运行期间受风浪等影响会发生起伏、摇摆等运动,导致系统流量、压降等热工参数发生周期性波动,影响棒束通道内流动换热特性。针对摇摆条件下自然循环系统棒束通道传热问题,开展了摇摆运动工况下棒束通道换热特性实验研究。结果表明:摇摆运动会增强系统平均换热性能,使得平均换热系数发生周期性波动,功率越高,相对波动幅度越小;对于子通道局部换热特性,其受二次流影响较大,以通道中央为轴,摇摆运动会增强靠近摇摆轴一侧子通道内局部换热性能,降低远离摇摆轴一侧;功率越大,子通道局部换热系数波动越小。

设计参数不确定条件下滚动直线导轨运动性能分析

为了研究几何参数不确定性对直线导轨动态运动性能的影响,用区间数表示几何参数的不确定性。基于赫兹接触理论,分析滚动直线导轨实际受载情况,建立了二自由度动力学分析模型,求解得到滚动直线导轨水平方向和垂直方向动态位移;根据直线导轨精度等级,确定水平和垂直方向位移公差范围。通过对比实际动态位移与位移公差范围,得到了直线导轨水平方向和垂直方向上动态位移位于运动公差合理区间内的时间占比。通过对不同精度等级的SHS-45R直线导轨的分析可以得到,随着导轨精度等级的提高,水平和垂直方向上动态位移位于运动公差合理区间内部的比例逐渐变小。

摇摆运动下低流率蒸汽冷凝换热特性和气泡受力数值模拟

蒸汽直接接触冷凝具有高效的传热传质性能,广泛应用于核能安全等领域。低质量流率蒸汽直接接触冷凝具有低频压力振荡,易引发设备共振。相比陆地稳定工况,海洋条件下摇摆运动可能加剧气液界面振荡,进一步影响设备的安全运行。为此,通过数值模拟对摇摆条件下低流率蒸汽凝结过程进行研究,分析了摇摆条件下压力、换热特性和气泡受力的变化规律,结果表明压力和传热系数剧烈波动主要集中于气泡颈缩和脱离阶段,此时气泡受力也达到最大值,气泡主要受惯性力和凝结力作用。此外,对比静止工况和摇摆工况,发现摇摆条件下由气泡速度变化导致的惯性力部分增大,摇摆运动带来的附加摇摆速度强化了气液界面的换热性能,平均传热系数远高于静止工况。

基于Simulink空载高速转向工况车身运动特性分析

针对某矿用汽车悬挂进行分析,获取转向时的侧倾运动中心;对空载高速转向时,车身运动的关键特征参数进行分析,获取特征参数数学模型;采用Simulink搭建空载高速转向时的车身运动控制模型,并与车辆多体动力学模型联合开展运动特性分析;选取稳态回转工况,对转向特性进行分析,获取侧倾角、侧倾位移等参数的变化规律;将转向角与理论分析结果进行对比,并对比转向角偏差,以验证模型的准确性。结果可知:车身在高速工况转向,由于侧倾效应,外侧悬挂出现跳动,叠加了侧倾转角;侧倾运动对转角特性影响较大,分析模型与理论值基本一致,误差值小于5%;对转角偏差影响也较大,不考虑此部分的影响时,偏差增加了近20%。在精细化设计分析时,需要考虑此部分因素的影响。

摇摆条件下棒束通道自然循环核热耦合特性实验研究

为研究海洋条件下核热耦合对棒束通道自然循环热工参数波动特性的影响,在机械摇摆台上设计并搭建了5×5棒束通道自然循环实验回路。基于单群点堆中子动力学模型,通过实时采集热工参数并计算实时核功率,实现了运动-热工-物理的耦合。对棒束通道单相自然循环核热耦合的瞬态特性进行了实验研究,研究结果显示:在静态工况下,核热耦合使得系统功率发生小幅度波动,当温度反馈系数低于-5×10^(-4)℃^(-1)时,燃料温度反馈对功率的影响比冷却剂温度反馈更大。核热耦合对热工系统的时均参数无显著影响,增大燃料温度反馈系数会降低系统的稳定性。在摇摆运动工况下,摇摆幅度越小或摇摆周期越短,核热耦合引入的功率波动幅度就越小。此外,在摇摆运动启动的瞬态过程中,核热耦合使得系统重新建立稳定自然循环的时间大幅延长。

茶叶揉捻压力检测装置设计与试验

茶叶揉捻压力是影响茶叶揉捻品质的重要因素,对茶叶揉捻压力开展实时检测,是实现茶叶自动化加工的关键。在分析揉捻加压相关部件的受力情况与揉捻作用区域的分布基础上,运用SW-DAMS耦合仿真方法分析不同揉捻压力检测方法对应的感知传感器接触力学特性与作用力变化情况,对比优化出揉捻压力最佳检测点位于揉盖上端。确定压力传感器结构及量程,设计揉捻压力检测装置,完成压力校准及检测试验。结果表明:揉捻标准转速为45 r/min时,选用的环形压力感知传感器内部直径为32 mm、高度为20 mm,连接法兰高度为40 mm,压力输出精度达到0.1%,无超调现象;样机的生产率为65 kg/h,碎茶率为1%,动态压力数值随揉捻过程在3~35 N之间实时变化,能够满足自动化茶叶生产线对揉捻压力的检测要求。

基于滚动接触的单模块多自由度柔性连续体机械臂设计

为实现连续体机械臂的多模态运动,解决现有机械臂只能实现单一弯曲或旋转的问题,设计了一种基于滚动接触的单模块多自由度柔性连续体机械臂。将滚动接触模块作为连续体机械臂弯曲模块的骨架结构,并在弯曲模块内安装旋转模块,以形成具备独立弯曲和旋转运动的多自由度机械臂。采用分段常曲率法建立连续体机械臂的运动学模型,对其刚度性能、弯曲性能和旋转性能进行了分析。制备了连续体机械臂样机,并开展机械臂拧松瓶盖、开启风扇以及在三维空间内避开障碍物抓取目标物体等实验。实验结果表明,利用连续体机械臂的弯曲与旋转组合运动可完成复杂空间环境下的不同任务,体现了复合运动模式的优势。所设计的连续体机械臂具备多模态运动,可为多自由度连续体机械臂的设计提供新思路,拓展了连续体机械臂的应用场景。

旋转圆环槽中珠子的动力学性质研究

从非惯性系下的质心运动定理出发,建立空间转动坐标系,研究了珠子在绕竖直轴旋转的圆环槽中相对于环的运动所对应的理论,包括珠子相对于底部和侧壁的不同状态的运动方程,滚滑运动和纯滚动之间的转换条件,运动过程中的科里奥利力以及珠子的平衡位置.实验中忽略空气阻力和非弹性碰撞对珠子运动的影响,研究了环转速、环中心到珠子球心的距离和滑动摩擦系数对珠子运动进程和平衡位置的影响.采用珠子位于环槽内部的简化模型,增加了珠子运动的自由度.