搜索

x

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

鱼雷豚跳运动及初始转动角速度选取

徐保伟 冯金富 胡俊华 刘安 程相东

引用本文:
Citation:

鱼雷豚跳运动及初始转动角速度选取

徐保伟, 冯金富, 胡俊华, 刘安, 程相东

Dolphin-leap of the torpedo and the selection of the initial rotational angular velocity

Xu Bao-Wei, Feng Jin-Fu, Hu Jun-Hua, Liu An, Cheng Xiang-Dong
PDF
导出引用
  • 鱼雷依靠惯性以一定姿态跃出水面并再次落入水中的过程称之为鱼雷的豚跳运动. 针对鱼雷的豚跳运动需要以零攻角入水, 而鱼雷在空中运动过程中无法控制的问题, 提出了通过构建鱼雷豚跳运动模型并以此为基础控制初始出水转动角速度的解决方法. 附加质量、浮力、浮心、浸湿面积、浸水体积等变量随鱼雷出水姿态、出水过程不同而不同. 在构建鱼雷豚跳运动模型过程中, 充分考虑了各个变化物理量的导数项, 分析了鱼雷水动阻力系数与攻角的关系, 构建了运动模型, 得出鱼雷豚跳运动的规律. 利用优化搜索算法计算出使鱼雷豚跳以零攻角条件入水的初始转动角速度. 仿真结果表明了所建模型及控制初始转动角速度方法的有效性.
    The process which the torpedo, with relying on its inertia, jumps out of water in a certain gesture and falls into water, is called dolphin-leap. According to the dolphin-leap, the torpedo is required to get into the water at its zero angle of attack, but this gesture cannot be controlled during the torpedo moving in air. In order to solve the problem, a solution to control the initial water-exit rotational angular velocity is developed according to the proposed dolphin-leap model. The variables like added mass, buoyancy, buoyant center, wetted area, wetted volume, etc. are dependent on water-exit gesture and process. The derivative term of each physical quantity is fully considered in the dolphin-leap model, and the relationship between torpedo's hydrodynamic drag coefficient and attack angle is analyzed, then the motion model is built and the torpedo's dolphin-leap law is obtained. The optimal search algorithm is used to obtain the initial rotational angular velocity which makes the torpedo dolphin-leap fall into the water at its zero angle of attack. Simulation results show the validity of the proposed model and the solution for controlling the initial rotational angular velocity.
    • 基金项目: 国家自然科学基金青年科学基金(批准号: 11204378)资助的课题.
    • Funds: Project supported by the Young Scientists Fund of the National Natural Science Foundation of China (Grant No. 11204378).
    [1]

    Gorkem D, Emre O, Ahmet K 2005 Proceedings of the IEEE International Conference on Mechatronics and Automation Niagara Falls, Canada, July 29, 2005 p952

    [2]

    Yu J Z, Hu Y H, Fan R R, Wang L, Huo J Y 2006 Proceedings of the 2006 IEEE International Conference on Robotics and Automation Orlando, Florida, May 15-19, 2006 p2311

    [3]

    Hu Y H, Wang L, Yu J Z, Huo J Y, Jia Y M 2008 American Control Conference Westin Seattle Hotel Seattle, Washington, USA, June 11-13, 2008 p2858

    [4]

    Yu J Z, Li Y F, Wang M, Tan M 2008 Proceedings of the IEEE International Conference on Automation and Logistics Qingdao, China, September 1-3, 2008 p1172

    [5]

    Yu J Z, Li Y F, Hu Y H, Wang L Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics Bangkok Thailand, February 21-26, 2009 p240

    [6]

    Yang J M, Stern F 18th AIAA Computational Fluid Dynamics Conference Miami, USA, June 25-28, 2007 p4578

    [7]

    Han R, Zhang A M, Li S 2014 Chin. Phys. B 23 034703

    [8]

    Wang H, Zhang Z Y, Yang Y M, Zhang H S 2010 Chin. Phys. B 19 026801

    [9]

    Zhang A M, Wang C, Wang S P, Cheng X D 2012 Acta Phys. Sin. 61 084701 (in Chinese) [张阿漫, 王超, 王诗平, 程晓达 2012 物理学报 61 084701]

    [10]

    He H L, Liu Y J, Mo J, Song J B 2009 Acta Phys. Sin. 58 6743 (in Chinese) [何海伦, 刘永军, 莫军, 宋金宝 2009 物理学报 58 6743]

    [11]

    He C T, Wang C, He Q K, Qiu Y 2012 Acta Phys. Sin. 61 134701 (in Chinese) [何春涛, 王聪, 何乾坤, 仇洋 2012 物理学报 61 134701]

    [12]

    Chu X S, Yan K, Wang Z, Zhang K, Feng G, Chen W Q 2010 J. Hydrodyn. 22 877

    [13]

    Cao W, You T Q, Wei X Q, Wang C, Zhao X Q 2012 International Conference on Structural Computation and Geotechnical Mechanics Kunming, China, March 24-25, 2012 p203

    [14]

    Huang J S, Zeng G W 2000 Eng. Struct. 22 1189

    [15]

    Li J, Lu C J, Huang X 2010 J. Hydrodyn. 22 312

    [16]

    Xiao M, Shi Z K 2010 Acta Armamentarii 9 1151 (in Chinese) [肖敏, 史忠科 2010 兵工学报 9 1151]

    [17]

    Yuan X L, Zhang Y W, Yin Z Y, Liu L H 2003 J. Projectiles, Rockets, Missiles Guid. 4 187 (in Chinese) [袁绪龙, 张宇文, 殷崇一, 刘乐华 2003 弹箭与制导学报 4 187]

    [18]

    Yang S X, Li N J, Xu X Z 2001 Airdrop Torpedo Technology (Kunming: Yunnan Science and Technology Publishing Press) p149 (in Chinese) [杨世兴, 李乃晋, 徐宣志 2001 空投鱼雷技术 (昆明:云南科技出版社) 第149页]

    [19]

    Yan W S 2005 Torpedo Mechanics (Xi'an: Northwestern Polytechnical University Press) p26 (in Chinese) [严卫生 2005 鱼雷航行力学 (西安: 西北工业大学出版社) 第26页]

    [20]

    Liao J H, You X C, L H B, Zhuang Z 2012 Eng. Mech. 4 202 (in Chinese) [廖剑晖, 由小川, 吕海波, 庄茁 2012 工程力学 4 202]

    [21]

    Wilson M B, Kelley J R 1976 Low Froude Number Hydrodynamic Performance of a Flat Plate Hydrofoil (Bethesda: David W. Taylor Naval Ship Research and Development Center) p23

    [22]

    Логвиновч Г В(translated by Shi H H) 2012 Гидродина Течениæco Свободными Гранидами(Hydrodynamics of Free-Boundary Flows) (Shanghai: Shanghai Jiao Tong University Press) pp129-131 (in Chinese) [罗格维诺维奇 Γ B著 (施红辉 译) 2012 自由边界流动的水动力学 (上海: 上海交通大学出版社) 第129-131页]

    [23]

    Zhang J Q 2012 Ph. D. Dissertation (Xi'an: Air Force Engineering University) (in Chinese) [张佳强 2012 博士学位论文 (西安: 空军工程大学)]

    [24]

    Chen B L 2005 Theory and Algorithms of Optimization (Beijing: Tsinghua University Press) p256 (in Chinese) [陈宝林 2005 最优化理论与算法 (北京: 清华大学出版社) 第256页]

  • [1]

    Gorkem D, Emre O, Ahmet K 2005 Proceedings of the IEEE International Conference on Mechatronics and Automation Niagara Falls, Canada, July 29, 2005 p952

    [2]

    Yu J Z, Hu Y H, Fan R R, Wang L, Huo J Y 2006 Proceedings of the 2006 IEEE International Conference on Robotics and Automation Orlando, Florida, May 15-19, 2006 p2311

    [3]

    Hu Y H, Wang L, Yu J Z, Huo J Y, Jia Y M 2008 American Control Conference Westin Seattle Hotel Seattle, Washington, USA, June 11-13, 2008 p2858

    [4]

    Yu J Z, Li Y F, Wang M, Tan M 2008 Proceedings of the IEEE International Conference on Automation and Logistics Qingdao, China, September 1-3, 2008 p1172

    [5]

    Yu J Z, Li Y F, Hu Y H, Wang L Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics Bangkok Thailand, February 21-26, 2009 p240

    [6]

    Yang J M, Stern F 18th AIAA Computational Fluid Dynamics Conference Miami, USA, June 25-28, 2007 p4578

    [7]

    Han R, Zhang A M, Li S 2014 Chin. Phys. B 23 034703

    [8]

    Wang H, Zhang Z Y, Yang Y M, Zhang H S 2010 Chin. Phys. B 19 026801

    [9]

    Zhang A M, Wang C, Wang S P, Cheng X D 2012 Acta Phys. Sin. 61 084701 (in Chinese) [张阿漫, 王超, 王诗平, 程晓达 2012 物理学报 61 084701]

    [10]

    He H L, Liu Y J, Mo J, Song J B 2009 Acta Phys. Sin. 58 6743 (in Chinese) [何海伦, 刘永军, 莫军, 宋金宝 2009 物理学报 58 6743]

    [11]

    He C T, Wang C, He Q K, Qiu Y 2012 Acta Phys. Sin. 61 134701 (in Chinese) [何春涛, 王聪, 何乾坤, 仇洋 2012 物理学报 61 134701]

    [12]

    Chu X S, Yan K, Wang Z, Zhang K, Feng G, Chen W Q 2010 J. Hydrodyn. 22 877

    [13]

    Cao W, You T Q, Wei X Q, Wang C, Zhao X Q 2012 International Conference on Structural Computation and Geotechnical Mechanics Kunming, China, March 24-25, 2012 p203

    [14]

    Huang J S, Zeng G W 2000 Eng. Struct. 22 1189

    [15]

    Li J, Lu C J, Huang X 2010 J. Hydrodyn. 22 312

    [16]

    Xiao M, Shi Z K 2010 Acta Armamentarii 9 1151 (in Chinese) [肖敏, 史忠科 2010 兵工学报 9 1151]

    [17]

    Yuan X L, Zhang Y W, Yin Z Y, Liu L H 2003 J. Projectiles, Rockets, Missiles Guid. 4 187 (in Chinese) [袁绪龙, 张宇文, 殷崇一, 刘乐华 2003 弹箭与制导学报 4 187]

    [18]

    Yang S X, Li N J, Xu X Z 2001 Airdrop Torpedo Technology (Kunming: Yunnan Science and Technology Publishing Press) p149 (in Chinese) [杨世兴, 李乃晋, 徐宣志 2001 空投鱼雷技术 (昆明:云南科技出版社) 第149页]

    [19]

    Yan W S 2005 Torpedo Mechanics (Xi'an: Northwestern Polytechnical University Press) p26 (in Chinese) [严卫生 2005 鱼雷航行力学 (西安: 西北工业大学出版社) 第26页]

    [20]

    Liao J H, You X C, L H B, Zhuang Z 2012 Eng. Mech. 4 202 (in Chinese) [廖剑晖, 由小川, 吕海波, 庄茁 2012 工程力学 4 202]

    [21]

    Wilson M B, Kelley J R 1976 Low Froude Number Hydrodynamic Performance of a Flat Plate Hydrofoil (Bethesda: David W. Taylor Naval Ship Research and Development Center) p23

    [22]

    Логвиновч Г В(translated by Shi H H) 2012 Гидродина Течениæco Свободными Гранидами(Hydrodynamics of Free-Boundary Flows) (Shanghai: Shanghai Jiao Tong University Press) pp129-131 (in Chinese) [罗格维诺维奇 Γ B著 (施红辉 译) 2012 自由边界流动的水动力学 (上海: 上海交通大学出版社) 第129-131页]

    [23]

    Zhang J Q 2012 Ph. D. Dissertation (Xi'an: Air Force Engineering University) (in Chinese) [张佳强 2012 博士学位论文 (西安: 空军工程大学)]

    [24]

    Chen B L 2005 Theory and Algorithms of Optimization (Beijing: Tsinghua University Press) p256 (in Chinese) [陈宝林 2005 最优化理论与算法 (北京: 清华大学出版社) 第256页]

  • [1] 李盈科, 赵时, 楼一均, 高道舟, 杨琳, 何岱海. 新型冠状病毒肺炎的流行病学参数与模型. 物理学报, 2020, 69(9): 090202. doi: 10.7498/aps.69.20200389
    [2] 陈永, 张薇. 高速跟驰交通流动力学模型研究. 物理学报, 2020, 69(6): 064501. doi: 10.7498/aps.69.20191251
    [3] 魏丽英, 崔裕枫, 李东莹. 基于演化博弈论的行人与机动车冲突演化机理研究. 物理学报, 2018, 67(19): 190201. doi: 10.7498/aps.67.20180534
    [4] 曹海燕, 毕恒昌, 谢骁, 苏适, 孙立涛. 氧化石墨烯基功能纸的简易制备和染料吸附性能. 物理学报, 2016, 65(14): 146802. doi: 10.7498/aps.65.146802
    [5] 何艳生, 符师桦, 张青川. 不同加载条件下位错和溶质原子交互作用的数值模拟. 物理学报, 2014, 63(22): 228102. doi: 10.7498/aps.63.228102
    [6] 阮鹏, 谢冀江, 潘其坤, 张来明, 郭劲. 非链式脉冲DF化学激光器反应动力学模型. 物理学报, 2013, 62(9): 094208. doi: 10.7498/aps.62.094208
    [7] 唐荣荣. 一类多频激励相对转动非线性动力学模型的重正规化解. 物理学报, 2012, 61(20): 200201. doi: 10.7498/aps.61.200201
    [8] 王关德, 陈抱雪, 王平, 隋国荣, 邹林儿, 浜中广见, 矶守. 硫化砷非晶态波导光阻断效应的机理研究. 物理学报, 2011, 60(7): 074224. doi: 10.7498/aps.60.074224
    [9] 祁春超, 左都罗, 孟凡奇, 卢彦兆, 纠智先, 程祖海. 基于光放大的长脉冲抽运太赫兹激光. 物理学报, 2009, 58(7): 4641-4646. doi: 10.7498/aps.58.4641
    [10] 闫辉, 姜洪源, 刘文剑, Ulannov A. M.. 具有迟滞非线性的金属橡胶隔振器参数识别研究. 物理学报, 2009, 58(8): 5238-5243. doi: 10.7498/aps.58.5238
    [11] 戴存礼, 刘曙娥, 田 亮, 施大宁. 推广的失活网络动力学同步优化. 物理学报, 2008, 57(8): 4800-4804. doi: 10.7498/aps.57.4800
    [12] 鲁录义, 顾兆林, 罗昔联, 雷康斌. 一种风沙运动的颗粒动力学静电起电模型. 物理学报, 2008, 57(11): 6939-6945. doi: 10.7498/aps.57.6939
    [13] 肖中银, 王廷云, 罗文芸, 王子华. 高能粒子辐照二氧化硅玻璃E′色心形成机理研究. 物理学报, 2008, 57(4): 2273-2277. doi: 10.7498/aps.57.2273
    [14] 谢安生, 李盛涛, 郑晓泉. 高频电压下交联聚乙烯电缆绝缘中电树枝生长的动力学模型. 物理学报, 2008, 57(6): 3828-3833. doi: 10.7498/aps.57.3828
    [15] 陈 钢, 庄德文, 张 航, 徐 军, 程 成. 差分法求解时空分布的激光动力学模型. 物理学报, 2008, 57(8): 4953-4959. doi: 10.7498/aps.57.4953
    [16] 肖中银, 罗文芸, 王廷云. 高纯硅低能粒子辐照E′色心形成动力学研究. 物理学报, 2007, 56(5): 2731-2735. doi: 10.7498/aps.56.2731
    [17] 陈 立, 毛邦宁, 王煜博, 王丽敏, 潘佰良. Sr离子自终止和复合激光交替振荡的动力学模型. 物理学报, 2007, 56(12): 6976-6981. doi: 10.7498/aps.56.6976
    [18] 樊康旗, 贾建援, 朱应敏, 刘小院. 原子力显微镜在轻敲模式下的动力学模型. 物理学报, 2007, 56(11): 6345-6351. doi: 10.7498/aps.56.6345
    [19] 陈 钢, 冯 鉴, 潘佰良, 姚志欣. Sr原子M-M跃迁激光的动力学模型. 物理学报, 2005, 54(7): 3149-3153. doi: 10.7498/aps.54.3149
    [20] 程成, 庄飞. 优化铜蒸气激光的动力学强化机理研究. 物理学报, 2001, 50(3): 478-482. doi: 10.7498/aps.50.478
计量
  • 文章访问数:  5767
  • PDF下载量:  255
  • 被引次数: 0
出版历程
  • 收稿日期:  2014-06-24
  • 修回日期:  2014-10-20
  • 刊出日期:  2015-04-05

/

返回文章
返回