CN116029050B - An optimization design method for the opening and closing device of the torpedo launch tube front cover - Google Patents
An optimization design method for the opening and closing device of the torpedo launch tube front cover Download PDFInfo
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Abstract
本发明公开了一种鱼雷发射管前盖启闭装置优化设计方法，包括：运用Pro/E进行零件设计、装配和运动干涉检查；针对该装置运行到指定位置撞击最小为优化目标，分析其运动学参数；建立优化分析数学模型；逐个分析4个设计参数对装置机构的影响，得到单个设计参数的灵敏度和最优值，然后利用ADAMS/Insight进行最终的优化分析。本发明的有益效果是，采用本方法所设计的机构合理可行，建立的模型精确，能明显降低从动杆撞击时的速度，从而减小了撞击和噪声。
The invention discloses an optimization design method for a torpedo launch tube front cover opening and closing device, which includes: using Pro/E to carry out parts design, assembly and motion interference inspection; aiming at the optimization goal of minimizing impact when the device runs to a designated position, and analyzing its motion Learn parameters; establish an optimization analysis mathematical model; analyze the impact of the four design parameters on the device mechanism one by one, obtain the sensitivity and optimal value of a single design parameter, and then use ADAMS/Insight to conduct the final optimization analysis. The beneficial effects of the present invention are that the mechanism designed by this method is reasonable and feasible, the established model is accurate, and can significantly reduce the speed of the driven rod when it impacts, thereby reducing impact and noise.
Description
技术领域Technical field
本发明属于军工船舶制造领域，特别是涉及一种鱼雷发射管前盖启闭装置优化设计方法。The invention belongs to the field of military ship manufacturing, and in particular relates to an optimization design method of a torpedo launch tube front cover opening and closing device.
背景技术Background technique
潜艇的隐身性是其先进性的重要指标，其中一个重要的技术指标就是它的辐射噪声。潜艇准备进行鱼雷攻击时候，必须首先开启发射管，但开启发射管并不意味着立即发射鱼雷，常常还需要机动选择适当的攻击时机。而鱼雷发射装置，即鱼雷发射管前盖启闭装置在开启的过程中，若产生过大噪声，就会降低潜艇的隐身性，不仅极易过早暴露本潜艇的攻击意图，给自身生存带来极大威胁，或将直接影响整个战斗的胜败。分析原因发现，由于存在鱼雷发射管启闭装置机构设计不够优化等原因，造成启闭装置的减阻板在开启过程的最后阶段，减阻板由于运动速度较大，与固定住艇体上的止挡块发生较大撞击，产生过大噪声，较大程度地破坏了潜艇的隐身性。The stealth of a submarine is an important indicator of its advancement, and one of the important technical indicators is its radiated noise. When a submarine is preparing to conduct a torpedo attack, it must first open the launch tube. However, opening the launch tube does not mean launching the torpedo immediately. It often requires maneuvering to select the appropriate attack opportunity. If the torpedo launcher, that is, the opening and closing device of the front cover of the torpedo tube, generates excessive noise during the opening process, it will reduce the stealth of the submarine, which will not only easily expose the submarine's attack intention prematurely, but also bring difficulties to its own survival. It poses a great threat and may directly affect the outcome of the entire battle. Analysis of the reasons found that due to the insufficient optimization of the mechanism design of the torpedo launch tube opening and closing device, the drag reduction plate of the opening and closing device was in the final stage of the opening process. The stop block had a large impact and produced excessive noise, which greatly damaged the submarine's stealth.
根据鱼雷发射管启闭装置的结构、组成及其工作过程、工作特点，对其噪声产生的原因进行了分析，已有提出了解决方案，包括，对启闭装置的液压传动系统进行改进优化设计，设置液压缸缓冲装置(即缓冲缸)，以减小减阻板撞击止挡块的速度；为止挡块敷设抗冲击橡胶垫，延长减阻板与止挡块撞击的时间，实现降低冲击噪声。这些方案措施能够一定程度减小冲击噪声，但上述方法没有从鱼雷发射管前盖启闭装置机构运动学的角度去减小撞击减小减阻板撞击止挡块的速度，从而减小撞击噪声。According to the structure, composition, working process and working characteristics of the torpedo tube opening and closing device, the causes of noise generation have been analyzed, and solutions have been proposed, including improving and optimizing the design of the hydraulic transmission system of the opening and closing device. , set up a hydraulic cylinder buffer device (i.e. buffer cylinder) to reduce the speed at which the drag reduction plate hits the stop block; lay an anti-impact rubber pad on the stop block to prolong the collision time between the drag reduction plate and the stop block to reduce impact noise . These solutions and measures can reduce the impact noise to a certain extent, but the above methods do not reduce the impact from the kinematics of the torpedo tube front cover opening and closing device mechanism, reduce the speed of the drag reduction plate hitting the stop block, thereby reducing the impact noise. .
发明内容Contents of the invention
本发明的目的是提供一种鱼雷发射管前盖启闭装置优化设计方法，以解决上述现有技术存在的问题。The purpose of the present invention is to provide an optimized design method for a torpedo launch tube front cover opening and closing device to solve the above-mentioned problems existing in the prior art.
为实现上述目的，本发明提供了一种鱼雷发射管前盖启闭装置优化设计方法，包括：In order to achieve the above objectives, the present invention provides a method for optimizing the design of a torpedo launch tube front cover opening and closing device, including:
构建鱼雷发射管前盖传动受力模型；基于所述鱼雷发射管前盖传动受力模型获得力学参数及撞击力；Construct a torpedo launch tube front cover transmission stress model; obtain mechanical parameters and impact force based on the torpedo launch tube front cover transmission stress model;
构建启闭装置的复数矢量方程，确定第一优化目标，基于第一优化目标与所述复数矢量方程分析运动学参数，获得运动学约束方程组，所述第一优化目标为启闭装置运行到指定位置撞击力最小；Construct a complex vector equation of the hoisting and closing device, determine the first optimization objective, analyze the kinematic parameters based on the first optimization objective and the complex vector equation, and obtain a set of kinematic constraint equations. The first optimization objective is when the hoisting and closing device operates to The impact force is the smallest at the specified position;
确定设计变量与第二优化目标，基于所述设计变量与所述第二优化目标获得优化分析数学模型；Determine the design variables and the second optimization objective, and obtain an optimization analysis mathematical model based on the design variables and the second optimization objective;
基于所述运动学约束方程与所述优化分析数学模型，获得单个设计参数的灵敏度与最优值，进行综合优化分析，获得优化设计。Based on the kinematic constraint equation and the optimization analysis mathematical model, the sensitivity and optimal value of a single design parameter are obtained, and comprehensive optimization analysis is performed to obtain the optimal design.
可选的，基于力系平衡方程与乔瑟尔公式构建所述鱼雷发射管前盖传动受力模型，模型的构建还基于前盖与相邻连杆所形成的夹角、前盖由打开到关闭所旋转的角度、所述相邻连杆由打开到关闭所旋转的角度、各个连杆的长度值、转臂需要提供的力矩、各节点所受到的运动副反力、前盖正压力阻力矩、前盖重力产生的阻力矩、前盖表面压力。Optionally, the torpedo launch tube front cover transmission stress model is constructed based on the force system balance equation and Joser's formula. The construction of the model is also based on the angle formed by the front cover and the adjacent connecting rod, the front cover from opening to The angle of rotation when closing, the angle of rotation of the adjacent links from opening to closing, the length value of each link, the torque that the rotating arm needs to provide, the reaction force of the kinematic pair on each node, and the positive pressure resistance of the front cover moment, the resistance moment caused by the gravity of the front cover, and the surface pressure of the front cover.
可选的，所述复数矢量方程的构建过程包括：将鱼雷发射管启闭装置的铰链四连杆作为封闭矢量多边形，采用向量表示各个连杆的杆矢量，基于所述杆矢量构建复数矢量方程。Optionally, the construction process of the complex vector equation includes: using the hinged four-links of the torpedo tube opening and closing device as a closed vector polygon, using vectors to represent the rod vectors of each link, and constructing the complex vector equation based on the rod vectors. .
可选的，所述运动学约束方程组的获取过程包括：将所述复数矢量方程采用欧拉公式展开，获得铰链四连杆的位置约束方程，基于所述位置约束方程获得独立坐标约束与非独立坐标约束；对所述位置约束方程求导，获得速度约束方程与加速度约束方程，所述独立坐标约束、所述非独立坐标约束、速度约束方程与加速度约束方程构成所述运动学约束方程组。Optionally, the acquisition process of the kinematic constraint equations includes: using Euler's formula to expand the complex vector equations to obtain the position constraint equation of the hinge four-link, and obtaining the independent coordinate constraint and non-constraint equation based on the position constraint equation. Independent coordinate constraints; derivation of the position constraint equation to obtain the velocity constraint equation and the acceleration constraint equation, the independent coordinate constraint, the dependent coordinate constraint, the velocity constraint equation and the acceleration constraint equation constitute the kinematic constraint equation set .
可选的，所述铰链四连杆包括第一连杆、第二连杆、第三连杆、第四连杆；Optionally, the four-link hinge includes a first link, a second link, a third link, and a fourth link;
所述设计变量为第一连杆、第二连杆及第三连杆的长度值。The design variables are the length values of the first connecting rod, the second connecting rod and the third connecting rod.
可选的，前盖与第二连杆连接处撞击时速度值最小为第二优化目标，所述第二优化目标基于动量定理确定。Optionally, the minimum speed value when the connection between the front cover and the second link collides is the second optimization objective, and the second optimization objective is determined based on the momentum theorem.
可选的，优化设计的过程还包括采用机械系统动力学自动分析法对各个设计参数的灵敏度与最优值进行综合分析，获得最优参数。Optionally, the optimization design process also includes using the mechanical system dynamics automatic analysis method to comprehensively analyze the sensitivity and optimal values of each design parameter to obtain the optimal parameters.
本发明的技术效果为：The technical effects of the present invention are:
本发明运用Pro/E进行零件设计、装配和运动干涉检查；针对该装置运行到指定位置撞击最小为优化目标，分析其运动学参数；建立优化分析数学模型；逐个分析4个设计参数对装置机构的影响，得到单个设计参数的灵敏度和最优值，然后利用ADAMS/Insight进行最终的优化分析。采用本发明的方法所设计的机构合理可行，建立的模型精确，能明显降低从动杆撞击时的速度，从而减小了撞击和噪声。This invention uses Pro/E to carry out part design, assembly and motion interference inspection; aiming at the optimization goal of minimizing impact when the device runs to the designated position, analyzes its kinematic parameters; establishes an optimization analysis mathematical model; and analyzes the impact of the four design parameters on the device mechanism one by one. influence, obtain the sensitivity and optimal value of a single design parameter, and then use ADAMS/Insight to conduct final optimization analysis. The mechanism designed by the method of the present invention is reasonable and feasible, and the established model is accurate, which can significantly reduce the speed of the driven rod when it hits, thereby reducing the impact and noise.
附图说明Description of the drawings
构成本申请的一部分的附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：The drawings that form a part of this application are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an improper limitation of this application. In the attached picture:
图1为本发明实施例中的一种鱼雷发射管前盖启闭装置优化设计方法的流程图；Figure 1 is a flow chart of a method for optimizing the design of a torpedo launch tube front cover opening and closing device in an embodiment of the present invention;
图2为本发明实施例中的鱼雷发射管前盖启闭装置的传动机构工作原理简图；Figure 2 is a schematic diagram of the working principle of the transmission mechanism of the torpedo launch tube front cover opening and closing device in the embodiment of the present invention;
图3为本发明实施例中的鱼雷发射管前盖启闭装置的开闭系统简化结构图。Figure 3 is a simplified structural diagram of the opening and closing system of the torpedo launch tube front cover opening and closing device in the embodiment of the present invention.
具体实施方式Detailed ways
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。It should be noted that, as long as there is no conflict, the embodiments and features in the embodiments of this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.
需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and, although a logical sequence is shown in the flowchart, in some cases, The steps shown or described may be performed in a different order than here.
实施例一Embodiment 1
如图1-3所示，本实施例中提供一种鱼雷发射管前盖启闭装置优化设计方法，包括：As shown in Figures 1-3, this embodiment provides an optimization design method for the torpedo launch tube front cover opening and closing device, including:
步骤1：运用Pro/E进行零件设计、装配和运动干涉检查；Step 1: Use Pro/E for part design, assembly and motion interference inspection;
根据图2，由于力系平衡方程∑M＝0,∑F＝0,建立鱼雷发射管前盖传动受力模型According to Figure 2, due to the force system balance equation ∑M=0, ∑F=0, a force model for the transmission of the torpedo launch tube front cover is established.
解方程式得：Solve the equation to get:
其中：NDx为D点所受到的运动副反力沿X轴的分量，NDy为D点所受到的运动副反力沿Y轴的分量，G为前盖自身重力。Among them: N Dx is the component of the auxiliary motion reaction force received by point D along the X axis, N Dy is the component of the auxiliary motion reaction force received by point D along the Y axis, and G is the gravity of the front cover itself.
α为前盖CD与连杆BC所形成的夹角，β为前盖CD由打开到关闭所旋转的角度，γ为连杆BC由打开到关闭所旋转的角度。LAB，LCD为杆AB，杆CD的杆长。M为转臂需要提供的力矩：NA，NB，NC，ND为A,B,C,D所受到的运动副反力；N'B，N'C分别是NB，NC的反向力；MZ为前盖正压力阻力矩：MG为前盖重力产生的阻力矩。α is the angle formed by the front cover CD and the connecting rod BC, β is the angle that the front cover CD rotates from opening to closing, and γ is the angle that the connecting rod BC rotates from opening to closing. L AB and L CD are the lengths of rod AB and rod CD. M is the moment that the rotating arm needs to provide: N A , N B , N C , N D are the motion reaction forces received by A, B, C, and D; N' B and N' C are N B and N C respectively. The reverse force; M Z is the positive pressure resistance moment of the front cover: M G is the resistance moment generated by the gravity of the front cover.
其中：P为前盖表面压力,kg/cm2；α为前盖位置角；K为系数22.5；A为等效受力面积，m2。前盖表面压力P选用乔瑟尔公式来计算。Among them: P is the surface pressure of the front cover, kg/cm 2 ; α is the position angle of the front cover; K is the coefficient 22.5; A is the equivalent stress area, m 2 . The front cover surface pressure P is calculated using Joser's formula.
步骤2：针对该装置运行到指定位置撞击最小为优化目标，分析其运动学参数；Step 2: Aiming at the optimization goal of minimizing impact when the device runs to the specified position, analyze its kinematic parameters;
根据图2建立方程，将该铰链四杆机构看成一个封闭矢量多边形,以 分别表示各个杆矢量，则该机构的复数矢量方程为：Establish an equation according to Figure 2, and regard the hinged four-bar mechanism as a closed vector polygon, so that Representing each rod vector respectively, the complex vector equation of the mechanism is:
其中，l1,l2,l3,l4分别是各杆杆长，分别是各杆的角位移。Among them, l 1 , l 2 , l 3 , l 4 are the lengths of each rod respectively, are the angular displacements of each rod respectively.
按照欧拉公式展开，实部和虚部应分别相等According to Euler's formula expansion, the real part and the imaginary part should be equal respectively.
消去解得eliminate Solutions have to
其中 in
将带回到式(7)、(8)中得到构件l2的角位移/>的表达式Will Bring it back to equations (7) and (8) to obtain the angular displacement of member l 2 /> expression
将该四连杆机构的位置约束方程(7)、(8)的坐标分为独立坐标和非独立坐标/>约束方程的雅可比矩阵为The position of the four-bar linkage is constrained by the coordinates of equations (7) and (8) divided into independent coordinates and dependent coordinates/> The Jacobian matrix of the constraint equation is
其中，非独立坐标约束Φu为Among them, the dependent coordinate constraint Φ u is
独立坐标约束ΦV为The independent coordinate constraint Φ V is
约束方程(7)、(8)分别对时间求一阶导数和二阶导数，得到速度和加速度的约束方程Constraint equations (7) and (8) calculate the first-order derivative and second-order derivative with respect to time respectively, and obtain the constraint equations of velocity and acceleration.
步骤3：建立优化分析数学模型；Step 3: Establish an optimization analysis mathematical model;
考虑到杆长l4由结构布置事先给定，可以通过式(10)和式(9)确定，设/>为杆l1的初始角度，因此，仅/>l1、l2、l3为独立变量，是四维最优化设计问题，其设计变量为Considering that the rod length l 4 is given in advance by the structural arrangement, It can be determined by equation (10) and equation (9), assuming/> is the initial angle of rod l 1 , therefore, only/> l 1 , l 2 , l 3 are independent variables, which is a four-dimensional optimization design problem. The design variables are
这一机构进行优化设计是要在满足工作要求的前提下，机构运行到指定位置时杆l3与止挡板撞击力最小，根据动量定理可以将优化目标定为C点撞击时的速度值最小，目标函数可表示为The optimization design of this mechanism is to meet the work requirements. When the mechanism moves to the designated position, the impact force between rod l 3 and the stop plate is minimum. According to the momentum theorem, the optimization goal can be set as the minimum speed value when point C hits. , the objective function can be expressed as
转动过程中杆l3运行方向要求一直为逆时针方向During the rotation process, the running direction of rod l 3 must always be counterclockwise.
杆l1根据实际要求能够转动一定角度β到达指定打开位置Rod l1 can rotate a certain angle β to reach the designated opening position according to actual requirements.
杆l1转动角度β到达指定位置时要求杆l3角度为γ的锥度线之外When the rotation angle β of rod l 1 reaches the specified position, the angle of rod l 3 is required to be outside the taper line of γ
最后数学模型为The final mathematical model is
步骤4中，逐个分析4个设计参数对样机的影响，得到单个设计参数的灵敏度和最优值，然后利用ADAMS/Insight进行最终的优化分析，得到了比初始方案更合理的参数，减小了撞击和噪声。In step 4, the impact of the four design parameters on the prototype is analyzed one by one to obtain the sensitivity and optimal value of a single design parameter. Then ADAMS/Insight is used to conduct the final optimization analysis, and parameters that are more reasonable than the initial plan are obtained, reducing the Impact and noise.
以上所述，仅为本申请较佳的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应该以权利要求的保护范围为准。The above are only preferred specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or modifications within the technical scope disclosed in the present application. Replacements shall be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.
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