为了探究子午线轮胎面内振动特性,建立了旋转超弹性厚壁REF模型。并在具有随动坐标系的绝对节点坐标法(absolute nodal coordinate formulation,ANCF)框架下,提出平面内旋转环扇单元,对旋转超弹性厚壁弹性基环模型(ring on the elastic ...为了探究子午线轮胎面内振动特性,建立了旋转超弹性厚壁REF模型。并在具有随动坐标系的绝对节点坐标法(absolute nodal coordinate formulation,ANCF)框架下,提出平面内旋转环扇单元,对旋转超弹性厚壁弹性基环模型(ring on the elastic foundation,REF)进行离散。考虑到非线性本构关系和旋转运动中的广义惯性力,建立了该模型的非线性运动微分方程以及线性化运动微分方程。通过与现有文献中的试验结果进行对比,验证了上述模型的有效性,并分析了弹性基参数、环体厚度和旋转角速度对子午线轮胎固有特性的影响规律。展开更多
The integrated systems of unmanned surface vehicles(USVs) and remotely operated vehicles(ROVs) have been extensively applied in marine exploration and seabed coverage. However, the simultaneous navigation of USV-ROV s...The integrated systems of unmanned surface vehicles(USVs) and remotely operated vehicles(ROVs) have been extensively applied in marine exploration and seabed coverage. However, the simultaneous navigation of USV-ROV systems is frequently limited by strong disturbances induced by waves or currents. This paper develops a novel rigidflexible coupling multibody dynamic model that incorporates disturbances of variable-length marine cables with geometrically nonlinear motion. A hybrid Lagrangian-Eulerian absolute nodal coordinate formulation(ANCF) element is developed to accurately model subsea cables which undergo significant overall motion, substantial deformation,and mass flow during the deployment of underwater equipment. Furthermore, the governing equations of the coupled USV-umbilical-ROV system are derived, considering wave-induced forces and current disturbances. A numerical solver based on the Newmark-beta method is proposed, along with an adaptive meshing technique near the release point. After validating three experimental cases, the cable disturbances at both the USV and ROV ends—caused by ocean currents, heave motion, and simultaneous navigation—are comprehensively compared and evaluated. Finally,it is demonstrated that a PD controller with disturbance compensation can enhance the simultaneous navigation performance of USV-ROV systems.展开更多
文摘为了探究子午线轮胎面内振动特性,建立了旋转超弹性厚壁REF模型。并在具有随动坐标系的绝对节点坐标法(absolute nodal coordinate formulation,ANCF)框架下,提出平面内旋转环扇单元,对旋转超弹性厚壁弹性基环模型(ring on the elastic foundation,REF)进行离散。考虑到非线性本构关系和旋转运动中的广义惯性力,建立了该模型的非线性运动微分方程以及线性化运动微分方程。通过与现有文献中的试验结果进行对比,验证了上述模型的有效性,并分析了弹性基参数、环体厚度和旋转角速度对子午线轮胎固有特性的影响规律。
基金financially supported in part by the General Program of the National Natural Science Foundation of China (Grant No.12272221)the State Key Laboratory of Ocean Engineering (Shanghai Jiao Tong University)(Grant No. GKZD010087)。
文摘The integrated systems of unmanned surface vehicles(USVs) and remotely operated vehicles(ROVs) have been extensively applied in marine exploration and seabed coverage. However, the simultaneous navigation of USV-ROV systems is frequently limited by strong disturbances induced by waves or currents. This paper develops a novel rigidflexible coupling multibody dynamic model that incorporates disturbances of variable-length marine cables with geometrically nonlinear motion. A hybrid Lagrangian-Eulerian absolute nodal coordinate formulation(ANCF) element is developed to accurately model subsea cables which undergo significant overall motion, substantial deformation,and mass flow during the deployment of underwater equipment. Furthermore, the governing equations of the coupled USV-umbilical-ROV system are derived, considering wave-induced forces and current disturbances. A numerical solver based on the Newmark-beta method is proposed, along with an adaptive meshing technique near the release point. After validating three experimental cases, the cable disturbances at both the USV and ROV ends—caused by ocean currents, heave motion, and simultaneous navigation—are comprehensively compared and evaluated. Finally,it is demonstrated that a PD controller with disturbance compensation can enhance the simultaneous navigation performance of USV-ROV systems.
