拓扑优化技术在抑制流体晃荡中的数值模拟研究

流体晃荡问题广泛存在于船舶与海洋工程领域,任何部分载液的储罐运载装备在运动过程中均存在晃荡问题.当外界激励频率接近液舱内流体自由液面的固有频率时,很容易产生剧烈的晃荡,产生极大的冲击力,进而引起结构损害.因此,研究有效的减晃方案,以抑制流体晃荡带来的冲击具有重要意义.该文研究了基于自主研制的数值程序模拟长方体液舱内的流...     

考虑挡板间水动力相互作用影响的矩形TLD水箱阻尼比分析

利用能量耗散原理,推导了底部安装有多块垂直挡板和左右侧壁对称安装有多组水平挡板的矩形TLD水箱在正弦激励荷载下的线性阻尼比估算公式,通过引入速度势函数修正因子考虑了挡板间水动力相互作用的影响,对矩形水箱的阻尼比计算公式进行了修正.将考虑挡板间水动力相互作用影响与否得到的矩形水箱阻尼比计算结果与振动台试验结果进行了对比分...     

Vortex damping of sloshing in tanks with baffles

The problem of damping the sloshing in tanks with sharp-edged baffles (thin inserts which partially span a longitudinal or transverse cross-section) is considered. Separation of the boundary layer and the formation of vortices occur at these sharp edges. It is assumed that the domains where there is significant vortex motion of the fluid are localized in small neighbourhoods of the sharp edges of the baffles. The non-linear vortex damping is determined from the distribution of the velocity intensity factors at these sharp edges in the same way as the linear damping, caused by the dissipation of energy in a boundary layer close to a wall, is determined from the fluid velocity distribution on the walls of a cavity. Both of the above-mentioned distributions are calculated by solving the same boundary-value problem on the oscillations of an ideal fluid. The second of the distributions characterizes the singular properties of the solutions of this problem on particular lines. A method based on the variation of the area of the baffles, which simplifies the calculation of the velocity intensity factors is described. The distinctive features arising when the method of finite elements is used are considered. The results of numerical calculations of the damping of sloshing in a cylindrical tank with a ring baffle are compared with experimental data.     

An analytical solution for free liquid sloshing in a finite-length horizontal cylindrical container filled to an arbitrary depth

A general series-type theoretical formulation based on the linearized potential theory, the method of separation of variables, and the translational addition theorem for cylindrical Bessel functions is developed to study three-dimensional natural sloshing in a partially filled horizontally-mounted circular cylindrical tank of finite span. Assuming time-harmonic variations, the potential solutions associated with the Symmetric/Antisymmetric (S/A) modes of free liquid surface oscillations are first analytically expanded as series of bounded spatial functions with unknown modal coefficients. The impenetrability conditions of the rigid end-plates along with the free surface dynamic/kinematic boundary condition are then imposed. The zero-normal-velocity requirement of the lateral tank boundary is subsequently applied by innovative use of Graf's translational addition theorem for modified cylindrical Bessel functions. After truncation, four independent sets of homogeneous algebraic equations are obtained that are then numerically worked out for the natural sloshing eigen-frequencies and free surface oscillation mode shapes. Extensive numerical data include the first thirty six longitudinal/transverse Antisymmetric/Symmetric (AA, SA, AS, SS) dimensionless sloshing frequencies, for a wide range of liquid fill depths and container span to radius ratios. Also, the influence of fill depth on the free surface oscillation mode shapes is addressed through selected 2D images. Comprehensive numerical simulations illustrate the strong effects of container length and liquid fill depth on the calculated sloshing frequencies. It is revealed that the frequency branches with the same transverse mode number form a cluster that progressively merge together amid the tank fill-depth limits as the tank span ratio increases. On the other hand, when the tank length substantially decreases, the number of “frequency cross-overs” between various frequency clusters at certain liquid fill depths considerably increases. Moreover, primary advantages of proposed methodology in comparison to other approximate/numerical methods are explicitly pointed out, convergence of solution is tested, and accuracy/reliability of the results is demonstrated by comparisons with available data.     

A numerical investigation of energy dissipation with a shallow depth sloshing absorber

A liquid sloshing absorber consists of a container, partially filled with liquid. The absorber is attached to the structure to be controlled, and relies on the structure’s motion to excite the liquid. Consequently, a sloshing wave is produced at the liquid free surface within the absorber, possessing energy dissipative qualities. The behaviour of liquid sloshing absorbers has been well documented, although their use in structural control applications has attracted considerably less attention.     

微重力环境中摆转运动引起的流体晃动力及力矩

本文以部分充液的贮箱系统作为研究对象，用数值方法计算研究了在扰动力作用下流体系统的晃动力学问题。文中给出了由于系统摆转而在流体中引起的扰动加速度的数学表达式。晃动力的计算是在与贮箱固结在一起的非惯性坐标系中，对依赖于初始与边界条件的三维非稳态偏微分方程组进行数值求解，计算了在伴随系统的摆转运动而在流体中产生的扰动加速度作用下，流体施加于贮箱上的力与力矩的波动规律。     

Nonlinear modeling and control of slosh in liquid container transfer via a PPR robot

This paper studies the point-to-point liquid container transfer control problem for a PPR robot. The robot manipulator is represented as three rigid links, and the liquid slosh dynamics are included using a multi-mass-spring model. It is assumed that two forces and a torque applied to the prismatic joints and the revolute joint, respectively, are available as control inputs. The objective is to control the robot end-effector movement while suppressing the sloshing modes. A nonlinear mathematical model that reflects all of these assumptions is first introduced. Then, Lyapunov-based feedback controllers are designed to achieve the control objective. Two cases are considered: partial-state feedback that does not use slosh state information and full-state feedback that uses both robot state and slosh state measurements or estimations. Computer simulations are included to illustrate the effectiveness of the proposed control laws.     

微重力环境下充液球腔非线性耦合动力学研究

采用球坐标系描述球腔中的液体动力学特性并建立一种轴对称贮腔类液刚耦合系统动力学模型．采用模态展开方法分析了微重环境下球形贮箱中的液体晃动问题,给出了球形贮箱内液体晃动速度势函数和波高函数的Gauss超几何级数解析表达式．采用变分原理推导了系统动力学系模型,利用Galerkin 方法对变分方程进行特征频率分析．运用Lagrange方法及非线性动力学方法导出了微重力环境下贮箱中液体与航天器结构耦合的动力学方程组,并对该方程组进行了数值计算,绘出了非线性耦合充液系统自由度随时间的变化历程．     

An equivalent mechanical model for fluid sloshing in a rigid cylindrical tank equipped with a rigid annular baffle

A mass-spring mechanical model for linear sloshing of fluid in a rigid cylindrical tank with a rigid annual baffle is developed. By means of the subdomain method, the complicated fluid domain is divided into several subdomains with pure boundary conditions and interface conditions. Combined with the continuity conditions of velocity and pressure on interfaces, the velocity potential of fluid in each subdomain is analytically solved. The mass-spring model for fluid sloshing is established by generating the same hydrodynamic shear force and overturning moment as those from the exact solutions when the tank is subjected to horizontal excitations. The present model gives all the mechanical parameters including the convective mass-spring oscillators and the impulsive mass as well as their positions. Comparative studies between the present solutions and the available results verify the correctness of the mechanical model. Based on the normalized equivalent masses and spring stiffnesses, the dynamic responses of fluid in tanks are discussed with respect to the fluid height, the baffle position and the inner radius of the baffle, respectively. The present model is especially suitable for dealing with complicated liquid-structure systems. The motivation and novelty of this study are confirmed by an application of the present model to a multi-tank system.     

Free boundary fluid flow in a trough: A numerical approach

This paper examines the slow flow of a viscous liquid in an open rectangular container, one side (the base) of which moves steadily along its own plane, thereby providing the driving force the liquid needs. Unlike the two vertical sides that are rigid and stationary, the top side is left open so that the upper part of the liquid is in contact with air and is being controlled by surface tension and gravity. A numerical procedure for obtaining solutions for the cases when the capillary numbers are small is provided and the curves of the free boundaries obtained here are presented for some flow parameters. The deviation of the shape of the free boundary is observed to be strongly dependent on the aspect ratio of the boundary (i.e., the ratio of the vertical to horizontal spread of the liquid) with its curvature changing sign in the interval [1, 1.5].     

Efficient non-hydrostatic modelling of surface waves interacting with structures

An efficient three-dimensional non-hydrostatic model is applied to simulate free-surface waves interacting with structures. The model employs an implicit Crank–Nicholson scheme to discretize the Navier–Stokes equations under a Cartesian staggered grid framework. An integration method is introduced to account for the full effects of non-hydrostatic pressure at the free-surface layer. A domain decomposition method is proposed to effectively solve the resulting matrix system. The model is first validated by simulating three-dimensional sloshing waves in a container. The model is then applied to simulate waves propagating over two-dimensional and three-dimensional submerged structures, in which the effects of non-linearity and dispersion are important. The model results show that the model using only two vertical layers are in all favorable agreements with experimental data, demonstrating the efficiency and accuracy of the model on simulating surface waves interacting with structures.     

圆柱贮箱液体非线性晃动的多维模态分析方法

将Faltinsen等提出的多维模态理论应用到求解圆柱贮箱液体非线性晃动问题中．根据Narimanov-Moiseiev的三阶渐近假设关系,通过选取主导模态以及确定它们的阶次关系,将一般形式的无穷维模态系统降为五维渐近模态系统,即描述自由液面波高的广义坐标之间相互耦合的二阶非线性常微分方程组．通过对这个模态系统的数值积分,得到了与以前的理论分析和实验结果相吻合的非线性现象．研究结果表明,多维模态方法是用来求解液体非线性晃动动力学的一个很好的工具．在我们的下一步工作中,将继续发展这种方法,用来研究更为复杂的晃动问题．     

液固耦合系统中液体的有限幅晃动力及晃动力矩

研究弹簧-质量系统与圆柱贮箱类液体有限幅晃动系统间的非线性耦合动力学问题。在建立了六自由度非线性耦合动力学模型的基础上,导出了液体有限幅晃动力和力矩解析表达式。指出在终了构形上积分及压力表达式中的非线性项是有限幅晃动作用力、作用力矩非线性的根源。x、y方向结果之间良好的对称性在很大程度上证明了结果的正确性。通过耦合机理分析可知,这样的理论结果应具有较大的普适性。数值仿真结果与有关实验结果进行了对比。分析认为,在终了构形上求晃动力、晃动力矩较为合理。舍去的高维模态基底及高阶非线性项以及液体晃动阻尼的复杂性是导致偏差的重要原因。     

低重环境下液体非线性晃动的稳态响应

在俯仰激励作用下,圆柱贮箱中液体晃动存在平面运动、旋转运动和平面运动中的旋转运动等,而这些运动的稳定、不稳定区间的分界线与贮箱的半径、充液深度、重力强度、表面张力系数和晃动阻尼等基本系统参数有关．据此,首先建立了液体非线性晃动的微分方程组,并借助变分原理建立了液体压力体积分形式的Lagrange函数;然后将速度势函数在自由液面处作波高函数的级数展开,通过变分从而导出自由液面运动学和动力学边界条件非线性方程组;最后用多尺度法求解非线性方程组,就重力强度对圆柱形贮箱中液体非线性晃动的全局稳态响应的影响进行了详细的理论分析,并发现系统软硬特性的变化、跳跃和滞后等非线性现象．     

Sloshing frequencies

The sloshing problem is a linear eigenvalue problem for a partial differential operator that describes the small lateral oscillations of the free surface of an ideal fluid on a container subject to gravity. We consider two-dimensional problems on regions representing the cross-section of a cylindrical tank or canal. A conformal mapping transforms the sloshing problem on the given region to a weighted eigenvalue problem on a simple region such as a rectangle. The weighted problem can be treated very effectively by the powerful methods of intermediate problems. The strength and versatility of the method is illustrated with a variety of examples.     

小Bond数条件下圆柱贮箱中液体晃动的模部分析

运用模部分析方法考察了小Bond数条件下圆柱贮箱中弯曲静液面对液体晃动模态的重构作用.研究表明,圆柱贮箱中的液体作小幅晃动时,参与晃动的各阶基本模态的正交性若仅由Bessel模部来给出,则弯曲静液面将使各阶模态加权耦合,形成新的特征模态;参与晃动的各阶基本模态的正交性若由三角函数模部来给出,则弯曲静液面将独立改变各阶模态的固有频率,各阶模态之间不耦合.运用新的重构模态来研究圆柱贮箱中液体的横向受迫晃动,给出了其模态选择特征.     

The Inviscid Initial Value Problem for a Piecewise Linear Mean Flow

The time evolution of a small disturbance on a piecewise linear mean flow, approximating a parabolic profile, is calculated using Fourier transform methods. The solution is found to consist of two parts: one dispersive, incorporating the spreading of waves; one convective, characterized by a convection of the disturbance with the local mean velocity. Two dispersive modes are found: one symmetric with respect to the channel center line and one antisymmetric. The dispersivity of the symmetric mode is in fair agreement with the symmetric mode obtained for inviscid parabolic flow, whereas the antisymmetric mode is misrepresented. One of the parts of the solution to the horizontal velocities is found to be purely three-dimensional. This results from fluid elements retaining part of their horizontal momentum as they are lifted up by the time integrated effect of the vertical velocity. Calculations of the development of a particular disturbance modeling two vortex pairs are also made. The results show that the dispersive part, although decaying, is largest for the vertical velocity. For the horizontal velocity the three-dimensional lift-up effect provides the largest amplitudes. This part does not show any sign of decay, in agreement with earlier analysis by Gustavsson [8] and Landahl [16]. This last effect partly explains the sensitivity to three-dimensional disturbances seen in transition experiments and calculations. Comparison of the solution to a full numerical simulation using the Navier-Stokes equations shows good agreement for short times.     

The movement of bubbles in a vibrating liquid

The problem of movement of bubbles in a liquid in a rigid vertical cylindrical container with a rigid base is considered. The container vibrates vertically with a displacement amplitude Δ and an angular frequency ω with the acceleration g due to gravity.     

CFD modeling of hydrodynamic characteristics of a gas–liquid two-phase stirred tank

A three-dimensional CFD model was developed in this work to simulate hydrodynamic characteristics of a gas–liquid two-phase stirred tank with two six-bladed turbines and four baffles, coupling of the Multiple Size Group model to determine bubble size distribution. Important hydrodynamic parameters of the multi-phase system such as volume-averaged overall and time-averaged local gas holdups and axial liquid velocities along time and transversal courses were simulated and analyzed in detail, under varied operating conditions (inlet air flow rate and impeller rotation speed). Model predictions of local transient gas holdup and liquid velocity distributions on vertical and horizontal sections of the tank were also carried out. The overall flow patterns were discussed in detail to assess the mixing. Bubble size distributions were further predicted to reveal the unique properties of gas phase. Experimental measurements of overall gas holdups and local axial liquid velocities were used to validate the developed model.     

Criteria for trapped modes in a cranked channel with fixed and freely floating bodies

Trapped modes in the linearized water wave problem are localized free oscillations in an unbounded fluid with a free surface. For sometime, it has been known that certain structures, fixed or freely floating, can support such modes. In this paper, we consider the problem on a channel, which consists of a finite part and two cylindrical outlets into infinity. The finite (bounded) part may contain some submerged and/or surface-piercing bodies. Since the ordinary scattering matrix can by no means contribute any information on trapped modes, we introduce the fictitious scattering operator and present a criterion for the existence of trapped modes. The criterion states that the number of trapped modes is the difference of the multiplicities of the eigenvalue 1 of the fictitious scattering operator and the eigenvalue ?i of the scattering matrix.