Wave simulation method and device, terminal equipment and medium

Abstract

The invention provides a wave simulation method and device, terminal equipment and a medium, and the method comprises the steps: constructing a dynamic model of deep sea operation equipment, and constructing a turbulence model used for describing the motion characteristics of seawater fluid in the water outlet process of the deep sea operation equipment; performing grid division on a fluid domain where the deep sea operation equipment is located to obtain a plurality of fluid grids, and determining a multi-phase hybrid grid from the plurality of fluid grids based on a VOF model; numerical waves are manufactured based on the five-order Stokes theory, and for each fluid grid in an absorption area in a fluid domain, a damping source item is introduced into a momentum equation corresponding to the fluid grid to eliminate reflected waves generated by the boundary of the numerical water tank; based on the overshoot grid model, the acting force of the multi-phase mixed grid on the deep-sea operation equipment in the water outlet process is calculated, and the traction force needed by water outlet of the deep-sea operation equipment is determined according to the acting force. The water outlet simulation effect of the deep sea operation equipment can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of marine engineering, and specifically relates to a wave simulation method, device, terminal equipment and medium. Background Art

[0002] Since the inflow of water during the deployment process and the outflow of water during the recovery process of deep-sea operating equipment involve complex equipment-fluid interactions and large instantaneous impacts, the safety and stability of deployment and recovery are greatly affected. During the deployment and recovery of deep-sea operating equipment, the cavitation and wave impact accompanying the entry / exit process may cause the deep-sea operating equipment to exhibit complex motion behaviors, deviate from its initial deployment position, and fail to achieve the intended goal. More importantly, in this case, the lifting cable may break. Therefore, studying the hydrodynamic characteristics of deep-sea operating equipment during the entry / exit process has become a hot research topic.

[0003] The operation of the deployment and recovery system of deep-sea operation equipment is closely related to its water discharge process. The rapid water discharge process under wave conditions often has a negative impact on the safety and reliability of the entire system. How to accurately simulate the fluid dynamic characteristics and water discharge effects of deep-sea operation equipment during the water discharge process has important guiding significance for the design and development of deep-sea operation equipment.

[0004] However, traditional methods cannot accurately simulate the impact of different sea conditions on the water exit of deep-sea operating equipment, resulting in poor simulation results and difficulty in providing accurate guidance for the design and development of deep-sea operating equipment. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a wave simulation method, device, terminal equipment and medium to improve the simulation effect of deep-sea operating equipment leaving the water.

[0006] In a first aspect, the present invention provides a wave simulation method, the method comprising the following steps:

[0007] Construct a dynamic model of deep-sea operating equipment and a turbulence model to describe the motion characteristics of seawater fluid during the process of deep-sea operating equipment leaving the water; the turbulence model includes the time-averaged continuity equation and the time-averaged momentum equation;

[0008] The fluid domain where the deep-sea operating equipment is located is meshed to obtain multiple fluid grids, and a multiphase mixed grid is determined from the multiple fluid grids based on the VOF model; the multiphase mixed grid represents a fluid grid containing both gas and liquid phases, and is used to characterize the wave surface;

[0009] The numerical wave is generated based on the fifth-order Stokes theory, and for each fluid grid in the absorption zone of the fluid domain, a damping source term is introduced into the momentum equation corresponding to the fluid grid to eliminate the reflected wave generated by the boundary of the numerical water tank;

[0010] The overshoot grid model is used to calculate the force exerted on the deep-sea operating equipment by the multiphase mixed grid during the water exit process, and the traction required for the deep-sea operating equipment to exit the water is determined based on the force.

[0011] Alternatively, the expression for the time-averaged continuity equation is:

[0012]

[0013] in, represents the time-averaged value of the speed, x j Represents the j-th dimension component of the spatial coordinate;

[0014] The expression of the time-averaged momentum equation is:

[0015]

[0016] Among them, f i represents the body force tensor used to control the mass, τ ij represents the Reynolds stress, represents the time-averaged value of the fluid velocity, t represents the time variable, p represents the pressure of the fluid, ρ represents the density of the fluid, and x i Represents the i-th dimension component of the spatial coordinate, i,j=1,2,...,M, M represents the total number of dimensions of the spatial coordinate.

[0017] Optionally, the entire fluid domain is a three-dimensional cuboid, the inlet is set as a velocity inlet, the velocity inlet includes an upper interface, a lower interface and an upstream boundary, the outlet is set as a pressure outlet, and the upper and lower interfaces are set as symmetry planes;

[0018] The entire fluid domain includes a test area and an absorption area; the test area is located at the velocity inlet side, and the absorption area is located at the pressure outlet side.

[0019] Optionally, the volume fractions of the multiple fluid grids satisfy Among them, c i′ represents the volume function of the i′th fluid grid, i′=1,2,...,N, N represents the total number of fluid grids;

[0020] Multiple fluid grids obey the transport equation; the transport equation is expressed as

[0021]

[0022] Among them, v i″Represents the velocity component of the fluid in the i″th direction, i″=1,2,...,I, and I represents the total number of fluid directions.

[0023] Optionally, the velocity potential of the numerical wave is expressed as

[0024]

[0025] in, represents the velocity potential, c represents the wave velocity, k represents the wave number of the fifth-order Stokes wave, and n represents the sequence number of the mode, n=1,2,...,5, represents the velocity potential amplitude of the nth wave mode, cosh(·) represents the transcendental cosine function, θ represents the angle on the horizontal plane, θ=kx-ωt, ω represents the wave angular frequency, d represents the water depth, and z represents the vertical position coordinate;

[0026] The expression for the surface elevation of numerical waves is

[0027]

[0028] Where η represents the surface elevation, η′ n Represents the amplitude of the nth fluctuation mode.

[0029] Optionally, after introducing the damping source term into the momentum equation corresponding to the fluid grid, the expression of the new momentum equation is:

[0030]

[0031]

[0032] Among them, x sd represents the starting point of the absorption zone, x ed represents the end point of the absorption zone, f1, f2, n d represents a constant, g represents the acceleration due to gravity, e k -1 / e 1 -1 This is a normalization factor that converts the exponential function k to a value between 0 and 1. w represents the velocity component in the vertical direction.

[0033] Optionally, the force expression is F = f r ∑ i f i +∑ i f ic ; where F represents the force, f r represents the time transition function, f i represents the force component of the i-th multiphase mixed grid, f ic Represents the internal force of deep-sea operating equipment; the expression of time transition function is:

[0034] t r Indicates the release time of the numerical wave, t b represents the buffer time; the expression of traction force is

[0035]

[0036] Among them, F wz represents the force exerted by the water and G represents gravity.

[0037] In a second aspect, the present invention provides a wave simulation device, comprising:

[0038] The dynamic model building module is used to build the dynamic model of deep-sea operation equipment and the turbulence model used to describe the motion characteristics of seawater fluid during the process of deep-sea operation equipment leaving the water; the turbulence model includes the time-averaged continuity equation and the time-averaged momentum equation;

[0039] The gridding module is used to grid the fluid domain where the deep-sea operating equipment is located, obtain multiple fluid grids, and determine the multiphase mixed grid from the multiple fluid grids based on the VOF model; the multiphase mixed grid represents a fluid grid containing both gas and liquid phases, which is used to characterize the wave surface;

[0040] The wave simulation module is used to generate numerical waves based on the fifth-order Stokes theory, and introduces a damping source term into the momentum equation corresponding to each fluid grid in the absorption zone of the fluid domain to eliminate the reflected waves generated by the numerical water tank boundary;

[0041] The force analysis module is used to calculate the force exerted on the deep-sea operating equipment by the multiphase mixed grid during the water exit process based on the overshoot grid model, and determine the traction required for the deep-sea operating equipment to exit the water based on the force.

[0042] In a third aspect, the present invention provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the above method is implemented when the processor executes the computer program.

[0043] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program implements the above method when executed by a processor.

[0044] The beneficial effects of the present invention are:

[0045] The wave simulation method provided by the present invention manufactures numerical waves based on the fifth-order Stokes theory, and can reproduce up to level 4 sea conditions, thereby accurately simulating the influence of different sea conditions on the emergence of deep-sea operation equipment, which is beneficial to improving the simulation effect; introducing a damping source term in the momentum equation corresponding to the fluid grid to eliminate the reflected wave generated by the boundary of the numerical water tank, which can avoid the influence of the reflected wave generated by the wave touching the inner wall on the simulation effect, and improve the simulation accuracy; based on the overshoot grid model, the force of the multiphase mixed grid on the deep-sea operation equipment during the emergence process is calculated, which can accurately simulate the coupling force between the deep-sea operation equipment and the multiphase fluid, which is beneficial to improving the simulation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a structural diagram of a numerical water tank in one embodiment of the present application;

[0047] Figure 2 This is a flow chart of a wave simulation method in one embodiment of the present application;

[0048] Figure 3 This is a Z-shaped displacement distribution diagram of the free-form surface under four grid schemes in one embodiment of the present application;

[0049] Figure 4 This is a Z-shaped displacement distribution diagram of the free surface when the grid scheme corresponding to grid 3 is adopted in one embodiment of the present application;

[0050] Figure 5 It is a free surface height contour line in one embodiment of the present application;

[0051] Figure 6 This is a schematic structural diagram of a wave simulation device in one embodiment of the present application;

[0052] Figure 7 This is a schematic diagram of the structure of a terminal device in one embodiment of the present application. DETAILED DESCRIPTION

[0053] In view of the problem that traditional methods have poor simulation effects, the present invention provides a wave simulation method, device, terminal equipment and medium. The method manufactures numerical waves based on the fifth-order Stokes theory, and can reproduce up to level 4 sea conditions, thereby accurately simulating the influence of different sea conditions on the emergence of deep-sea operation equipment, which is beneficial to improving the simulation effect; introducing a damping source term in the momentum equation corresponding to the fluid grid to eliminate the reflected waves generated by the boundary of the numerical water tank, which can avoid the influence of the reflected waves generated by the waves touching the inner wall on the simulation effect and improve the simulation accuracy; based on the overshoot grid model, the force exerted on the deep-sea operation equipment by the multiphase mixed grid during the emergence process is calculated, which can accurately simulate the coupling force between the deep-sea operation equipment and the multiphase fluid, which is beneficial to improving the simulation effect.

[0054] It should be noted that the present invention is particularly suitable for wave simulation using STAR-CCM+ simulation software.

[0055] Before executing the wave simulation method provided by the present invention, a numerical water tank is first constructed using STAR-CCM+ simulation software, such as Figure 1 As shown, the three-dimensional size configuration of the numerical water tank is 5λ, λ, λ. λ represents the unit size, which is only used here to represent the water tank size ratio. The upper and lower interfaces and the upstream boundary are set as the velocity inlet, and the downstream boundary is set as the pressure outlet. In order to reduce the calculation cost, the present invention sets the boundary to a symmetry plane, in which the normal velocity and gradient of all variables are zero. The distance from the free surface to the upper and lower boundaries is 0.4 and 0.6, respectively. In addition, an absorption zone is set near the outlet to absorb reflected waves.

[0056] The wave simulation method provided by the present invention is described below.

[0057] like Figure 2 As shown, the wave simulation method includes steps 21 to 24.

[0058] Step 21, constructing a dynamic model of the deep-sea operation equipment, and constructing a turbulence model for describing the motion characteristics of seawater fluid during the process of the deep-sea operation equipment leaving the water.

[0059] The above turbulence model includes the time-averaged continuity equation and the time-averaged momentum equation.

[0060] Specifically, the expression of the time-averaged continuity equation is:

[0061]

[0062] in, represents the time-averaged value of the speed, x j Represents the j-th dimension component of the spatial coordinate;

[0063] The expression of the time-averaged momentum equation is:

[0064]

[0065] Among them, f i represents the body force tensor used to control the mass, τ ij represents the Reynolds stress, represents the time-averaged value of the fluid velocity, t represents the time variable, p represents the pressure of the fluid, ρ represents the density of the fluid, and x i Represents the i-th dimension component of the spatial coordinate, i,j=1,2,...,M, M represents the total number of dimensions of the spatial coordinate.

[0066] Step 22, meshing the fluid domain where the deep-sea operation equipment is located to obtain a plurality of fluid grids, and determining a multiphase mixed grid from the plurality of fluid grids based on the VOF model.

[0067] The multiphase mixed grid mentioned above represents a fluid grid containing both gas and liquid phases and is used to represent the wave surface.

[0068] In an embodiment of the present invention, a cutting volume grid may be used to grid the fluid domain where the deep-sea operation equipment is located.

[0069] Illustratively, in one embodiment of the present invention, four different types of grid division methods may be selected, and each grid division method is specifically shown in Table 1.

[0070] parameter <![CDATA[X λ ]]> <![CDATA[Z H ]]> Grid 1 40 10 Grid 2 60 10 Grid 3 60 15 Grid 4 80 20

[0071] After verification, the Z-shaped displacement distribution diagrams of the free-form surface corresponding to the above four mesh division methods are as follows: Figure 3 As shown by Figure 3 It can be seen that the evolution of the free surface is similar under the four meshing methods. The waves are effectively simulated in the test area (x = 50 ~ -50m), and the maximum displacement of the free surface in the Z direction gradually decreases in the test area until it approaches zero. Figure 4 The maximum relative deviation of the grid 3 with an x ​​position of 6m in the magnified frame is about 8%. In general, these four grid division methods all have high accuracy. However, grid 1 and grid 2 have many grid cells, and grid 4 cannot show a clearer flow field distribution. As the number of grid cells increases, the flow field distribution becomes clearer. In order to balance the amount of calculation and image quality, the present invention selects the grid division method corresponding to grid 3.

[0072] It should be noted that, in the embodiment of the present invention, the volume fractions of the multiple fluid grids satisfy Among them, c i′ Represents the volume function of the i′th fluid grid, i′=1, 2, ..., N, and N represents the total number of fluid grids.

[0073] Multiple fluid grids obey the transport equation; the transport equation is expressed as

[0074]

[0075] Among them, v i″ Represents the velocity component of the fluid in the i″th direction, i″=1,2,...,I, and I represents the total number of fluid directions.

[0076] The following is an explanation of the process of determining a multiphase mixing grid from multiple fluid grids based on the VOF model.

[0077] Specifically, the phase state of the fluid is determined by tracking the volume fraction of each phase. For a single-phase fluid grid, the scalar field of the VOF model is 0 or 1. For example, when the scalar field is 1, it indicates that the fluid grid is a gas phase fluid grid, and when the scalar field is 0, it indicates that the fluid grid is a liquid phase fluid grid; if the scalar field of the VOF model is based between 0 and 1, the fluid grid is a multiphase mixed grid.

[0078] Step 23, based on the fifth-order Stokes theory, numerical waves are generated, and for each fluid grid in the absorption zone in the fluid domain, a damping source term is introduced into the momentum equation corresponding to the fluid grid to eliminate the reflected waves generated by the boundary of the numerical water tank.

[0079] In the STAR-CCM+ software, the shape and free surface evolution of the VOF gravity wave based on the fifth-order Stokes theory are more consistent with the actual ocean waves than the ordinary wave theory. For the fifth-order Stokes wave (numerical wave), the expression of its velocity potential is

[0080]

[0081] in, represents velocity potential, c represents wave velocity, k represents the wave number of the fifth-order Stokes wave, and n represents the mode number, n=1,2,...,5, represents the velocity potential amplitude of the nth wave mode, cosh(·) represents the transcendental cosine function, θ represents the angle on the horizontal plane, θ=kx-ωt, ω represents the wave angular frequency, d represents the water depth, and z represents the vertical position coordinate.

[0082] The expression of its surface elevation is

[0083]

[0084] Where η represents the surface elevation, η′ n Represents the amplitude of the nth fluctuation mode.

[0085] It should be noted that within a limited water depth range, the dispersion relationship is ω 2 =gk tan h(kd).

[0086] The relationship between velocity potential and velocity vector satisfies The horizontal and vertical speeds are defined by the following formulas:

[0087]

[0088]

[0089] After introducing the damping source term into the momentum equation corresponding to the fluid grid, the expression of the new momentum equation is:

[0090]

[0091]

[0092] Among them, x sd represents the starting point of the absorption zone, x ed represents the end point of the absorption zone, f1, f2, n d represents a constant, g represents the acceleration due to gravity, e k -1 / e 1 -1 This is a normalization factor that converts the exponential function k into a value between 0 and 1. w represents the velocity component in the vertical direction. In one embodiment of the present invention, f1, f2, n d They are configured as 10, 10, and 2 respectively.

[0093] It is worth mentioning that the velocity component in the vertical direction can be reduced by introducing the damping source term.

[0094] Step 24, calculating the force exerted by the multiphase mixed grid on the deep-sea operation equipment during the water exit process based on the overshoot grid model, and determining the traction force required for the deep-sea operation equipment to exit the water according to the force.

[0095] Specifically, the expression of the force is F = f r ∑ i f i +∑ i f ic ; where F represents the force, f r represents the time transition function, f i represents the force component of the i-th multiphase mixed grid, f ic Represents the internal force of deep-sea operating equipment; the expression of time transition function is:

[0096] t r Indicates the release time of the numerical wave, t b Indicates the buffer time.

[0097] The expression of traction force is

[0098]

[0099] Among them, F wz It represents the force exerted by water, and G represents gravity. Deep-sea operation equipment enters the wave at the position where the vertical velocity of the wave is the largest, and bears the greatest impact.

[0100] It should be noted that, in some embodiments of the present invention, the velocity component of the deep-sea operation equipment when it leaves the water can be defined as:

[0101] v g =J T f′+v′,w g =J R f′+w′; where f=(x,z,θ) T , J T The Jacobian matrix of the translation, J R represents the Jacobian matrix of the rotation, and g represents the physical quantity defined in the global coordinate system.

[0102] In another embodiment of the present invention, a 1000-meter sea trial was conducted according to the wave simulation method, and the simulated sea condition was level 4. The specific environmental parameters are as follows: wind speed 8 m / s, current speed 0.77 m / s; wave height 2.5 m; period 6 seconds; wavelength 60 m.

[0103] First, the numerical water tank is established using STAR-CCM+ software. Before solving the physical quantities, the fluid domain is discretized. In STAR-CCM+, the cutting volume grid is used to divide the background domain and the overlapping domain respectively. The gas phase is set to air, the liquid phase is set to seawater, and the HRIC method is used for dispersion to improve the accuracy of capturing sharp interfaces on the free surface. Subject to the CFL condition, the time step is 0.0025s, the upper boundary value is 0.5, and the lower boundary value is 1.0. A two-layer Realizable k-turbulence model is used to close the Reynolds number time-averaged equation. Specifically, the turbulent dissipation rate and turbulent viscosity near the wall are functions of the wall distance and the far wall transport equation. The region is solved by smooth mixing using the specified turbulent dissipation rate. The isolation solver uses the pressure-velocity coupled SIMPLE algorithm, and the convection term uses the second-order upwind scheme to obtain an accurate solution. The final simulation results are as follows Figure 5 As shown, from Figure 5 It can be seen that the waveform in the test area (x = 0m) is close to the ideal waveform, the waveform in the transition area (x = -100m) is slightly attenuated, and the motion height in the absorbing area (x = -190m) is approximately 0. The waveform changes show that the boundary damping wave absorption plays an important role, making the upstream of the outlet boundary a calm water surface and effectively eliminating wave reflection.

[0104] From the above content, it can be seen that the wave simulation method provided by the present invention, which is based on the fifth-order Stokes theory to produce numerical waves, can reproduce up to level 4 sea conditions, thereby accurately simulating the influence of different sea conditions on the emergence of deep-sea operation equipment, which is beneficial to improving the simulation effect; introducing the damping source term in the momentum equation corresponding to the fluid grid to eliminate the reflected waves generated by the boundary of the numerical water tank, can avoid the influence of the reflected waves generated by the waves touching the inner wall on the simulation effect, and improve the simulation accuracy; based on the overshoot grid model, the force of the multiphase mixed grid on the deep-sea operation equipment during the emergence process can be calculated, which can accurately simulate the coupling force between the deep-sea operation equipment and the multiphase fluid, which is beneficial to improving the simulation effect.

[0105] The wave simulation device provided by the present invention is described below.

[0106] like Figure 6 As shown, the wave simulation device 600 includes:

[0107] The dynamic model building module 601 is used to build a dynamic model of the deep-sea operation equipment and a turbulence model for describing the motion characteristics of the seawater fluid during the process of the deep-sea operation equipment leaving the water; the turbulence model includes a time-averaged continuity equation and a time-averaged momentum equation;

[0108] The gridding module 602 is used to grid the fluid domain where the deep-sea operation equipment is located to obtain multiple fluid grids, and determine a multiphase mixed grid from the multiple fluid grids based on the VOF model; the multiphase mixed grid represents a fluid grid containing both gas phase and liquid phase, and is used to characterize the wave surface;

[0109] The wave simulation module 603 is used to generate numerical waves based on the fifth-order Stokes theory, and introduce a damping source term into the momentum equation corresponding to each fluid grid in the absorption zone in the fluid domain to eliminate the reflected wave generated by the numerical water tank boundary;

[0110] The force analysis module 604 is used to calculate the force exerted by the multiphase mixed grid on the deep-sea operation equipment during the water exit process based on the overshoot grid model, and determine the traction force required for the deep-sea operation equipment to exit the water according to the force.

[0111] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are not related to the implementation method of the present application.

[0112] The examples are based on the same concept, and their specific functions and technical effects can be specifically referred to in the method embodiment section, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit, and the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0113] like Figure 7 As shown, an embodiment of the present invention provides a terminal device, such as Figure 7 As shown, the terminal device D10 of this embodiment includes: at least one processor D100 ( Figure 7 Only one processor is shown in the figure), a memory D101, and a computer program D102 stored in the memory D101 and executable on the at least one processor D100, wherein the processor D100 implements the steps of any of the above-mentioned method embodiments when executing the computer program D102.

[0114] Specifically, when the processor D100 executes the computer program D102, it constructs a dynamic model of the deep-sea operating equipment and a turbulence model for describing the movement characteristics of seawater fluid during the process of the deep-sea operating equipment coming out of the water; the fluid domain where the deep-sea operating equipment is located is gridded to obtain multiple fluid grids, and a multiphase mixed grid is determined from the multiple fluid grids based on the VOF model; numerical waves are generated based on the fifth-order Stokes theory, and for each fluid grid in the absorption zone of the fluid domain, a damping source term is introduced into the momentum equation corresponding to the fluid grid to eliminate the reflected waves generated by the numerical water tank boundary; the force exerted on the deep-sea operating equipment by the multiphase mixed grid during the process of coming out of the water is calculated based on the overshoot grid model, and the traction required for the deep-sea operating equipment to come out of the water is determined based on the force. Among them, the creation of numerical waves based on the fifth-order Stokes theory can reproduce the highest level 4 sea conditions, thereby accurately simulating the impact of different sea conditions on the emergence of deep-sea operating equipment, which is beneficial to improving the simulation effect; the introduction of damping source terms in the momentum equation corresponding to the fluid grid to eliminate the reflected waves generated by the boundary of the numerical water tank can avoid the influence of the reflected waves generated by the waves touching the inner wall on the simulation effect and improve the simulation accuracy; the calculation of the force exerted on the deep-sea operating equipment by the multiphase mixed grid during the emergence process based on the overshoot grid model can accurately simulate the coupling force between the deep-sea operating equipment and the multiphase fluid, which is beneficial to improving the simulation effect.

[0115] The processor D100 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0116] In some embodiments, the memory D101 may be an internal storage unit of the terminal device D10, such as a hard disk or memory of the terminal device D10. In other embodiments, the memory D101 may also be an external storage device of the terminal device D10, such as a plug-in hard disk, a smart memory card (SMC, SmartMedia Card), a secure digital (SD, Secure Digital) card, a flash card (Flash Card), etc. equipped on the terminal device D10. Further, the memory D101 may also include both an internal storage unit of the terminal device D10 and an external storage device. The memory D101 is used to store an operating system, an application program, a boot loader (BootLoader), data and other programs, such as the program code of the computer program, etc. The memory D101 may also be used to temporarily store data that has been output or is to be output.

[0117] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0118] An embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0119] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0120] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A wave simulation method, characterized in that: include: Constructing a dynamic model of deep-sea operation equipment, and constructing a turbulence model for describing the motion characteristics of seawater fluid during the process of the deep-sea operation equipment leaving the water; the turbulence model includes a time-averaged continuity equation and a time-averaged momentum equation; Meshing the fluid domain where the deep-sea operation equipment is located to obtain a plurality of fluid grids, and determining a multiphase mixed grid from the plurality of fluid grids based on a VOF model; The multiphase mixed grid represents a fluid grid containing both gas phase and liquid phase, and is used to represent the surface of the ocean wave; The numerical wave is generated based on the fifth-order Stokes theory, and for each fluid grid in the absorption zone in the fluid domain, a damping source term is introduced into the momentum equation corresponding to the fluid grid to eliminate the reflected wave generated by the boundary of the numerical water tank; The force exerted on the deep-sea operation equipment by the multiphase mixed grid during the water exit process is calculated based on the overshoot grid model, and the traction force required for the deep-sea operation equipment to exit the water is determined according to the force.

2. The wave simulation method according to claim 1, characterized in that: The expression of the time-averaged continuity equation is: in, represents the time-averaged value of the speed, x j Represents the j-th dimension component of the spatial coordinate; The expression of the time-averaged momentum equation is: Among them, f i represents the body force tensor used to control the mass, τ ij represents the Reynolds stress, represents the time-averaged value of the fluid velocity, t represents the time variable, p represents the pressure of the fluid, ρ represents the density of the fluid, and x i Represents the i-th dimension component of the spatial coordinate, i,j=1,2,...,M, M represents the total number of dimensions of the spatial coordinate.

3. The wave simulation method according to claim 2, characterized in that: The entire fluid domain is a three-dimensional cuboid, the inlet is set as a velocity inlet, the velocity inlet includes an upper interface, a lower interface and an upstream boundary, the outlet is set as a pressure outlet, and the upper and lower interfaces are set as symmetry planes; The entire fluid domain includes a test area and an absorption area; the test area is located at a velocity inlet side, and the absorption area is located at a pressure outlet side.

4. The wave simulation method according to claim 3, characterized in that: The volume fractions of the plurality of fluid grids satisfy Among them, c i′ represents the volume function of the i′th fluid grid, i′=1,2,...,N, N represents the total number of fluid grids; The multiple fluid grids obey the transport equation; the expression of the transport equation is Among them, v i″ Represents the velocity component of the fluid in the i″th direction, i″=1,2,...,I, and I represents the total number of fluid directions.

5. The wave simulation method according to claim 4, characterized in that: The expression of the velocity potential of the numerical wave is: in, represents the velocity potential, c represents the wave velocity, k represents the wave number of the fifth-order Stokes wave, and n represents the sequence number of the mode, n=1,2,...,5, represents the velocity potential amplitude of the nth wave mode, cosh(·) represents the transcendental cosine function, θ represents the angle on the horizontal plane, θ=kx-ωt, ω represents the wave angular frequency, d represents the water depth, and z represents the vertical position coordinate; the expression of the surface elevation of the numerical wave is Wherein, η represents the surface elevation, η′ n Represents the amplitude of the nth fluctuation mode.

6. The wave simulation method according to claim 5, characterized in that: After the damping source term is introduced into the momentum equation corresponding to the fluid grid, the expression of the new momentum equation is: Among them, x sd represents the starting point of the absorption zone, x ed represents the end point of the absorption zone, f1, f2, n d represents a constant, g represents the acceleration due to gravity, e k -1 / e 1 -1 This is a normalization factor that converts the exponential function k to a value between 0 and 1, and w represents the velocity component in the vertical direction.

7. The wave simulation method according to claim 6, characterized in that: The expression of the acting force is F = f r ∑ i f i +∑ i f ic ; Wherein, F represents the force, f r represents the time transition function, f i represents the force component of the i-th multiphase mixed grid, f ic represents the internal force of the deep-sea operation equipment; the expression of the time transition function is: t r Indicates the release time of the numerical wave, t b Indicates buffer time; The expression of the traction force is Among them, F wz represents the force exerted by the water and G represents gravity.

8. A wave simulation device, characterized in that: include: A dynamic model building module is used to build a dynamic model of deep-sea operating equipment and a turbulence model for describing the motion characteristics of seawater fluid during the process of the deep-sea operating equipment leaving the water; the turbulence model includes a time-averaged continuity equation and a time-averaged momentum equation; A gridding module, used for gridding the fluid domain where the deep-sea operation equipment is located to obtain a plurality of fluid grids, and determining a multiphase mixed grid from the plurality of fluid grids based on a VOF model; the multiphase mixed grid represents a fluid grid containing both a gas phase and a liquid phase, and is used for characterizing the wave surface; A wave simulation module is used to generate numerical waves based on the fifth-order Stokes theory, and introduce a damping source term into the momentum equation corresponding to each fluid grid in the absorption zone in the fluid domain to eliminate the reflected wave generated by the boundary of the numerical water tank; The force analysis module calculates the force exerted on the deep-sea operation equipment by the multiphase mixed grid during the water exit process based on the overshoot grid model, and determines the traction force required for the deep-sea operation equipment to exit the water according to the force.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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