多分支多部件水下拖曳系统运动仿真

针对多分支多部件的水下拖曳系统特点,构造了杆和质点组成的通用力学结构;基于虚功原理建立系统动力学仿真模型;以仿真约束力处理浮体在水面的单双侧混合约束问题,避免了约束方程带来的复杂性。对典型系统的动态过程仿真结果表明,该模型可以获得系统的动态过程,正常收敛于稳态位置,浮体的水面约束与下沉过程均符合实际情况。

Movement Simulation of Multi-branch and Multi-component Underwater Towing System

An underwater towing system with branches and components could be reduced to a multiple rigid body model composed of particles and rods.A dynamic equation for the model was established on the basis of the virtual work principle.The surface buoys were simulated by its vertical resultant force to avoid from the complexity brought by the constraint function.The dynamic simulation of the typical system proves that the new model can obtain the system's motion process and converge on the steady position.The buoys...