Method and equipment for evaluating underwater noise based on water hammer phenomenon of bench test
Through the bench test method, the prediction model and the force-acoustic frequency response function matrix are used to evaluate the underwater noise caused by the water hammer phenomenon in the water vehicle pipeline in the water, solving the problem of difficult to measure underwater noise, and achieving a fast and accurate evaluation and safe test process.
Patent Information
- Application Number
- CN202510145409.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-10
- Publication Date
- 2025-05-27
AI Technical Summary
The water hammer phenomenon caused by the pipes of water vehicles when they are opened and closed quickly makes it difficult to measure underwater noise, and direct tests may damage the pipeline structure and affect safety.
Using a bench test-based method, by obtaining the operating conditions and control parameters of the water vehicle, inputting a pre-trained prediction model, obtaining a multi-directional dynamic excitation force characteristic matrix, and combining the force acoustic frequency response function matrix, the product is calculated to evaluate underwater noise.
The underwater noise caused by the water hammer phenomenon of the water vehicle pipeline in the water is achieved quickly and accurately, avoiding the damage risk caused by actual measurements and reducing the cost and risks of testing.
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Figure CN120043733A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of vibration and noise of underwater vehicles, and in particular to a method and device for evaluating underwater noise caused by water hammer phenomenon based on bench tests. Background Art
[0002] The fluid pipeline system of underwater vehicles (such as submarines, UUVs, ocean workstations, and boats, etc.) has requirements for the accuracy of adjustment amounts and the rapidity of adjustment time. Therefore, the main regulating valves in the pipeline system usually need to achieve rapid opening and rapid closing under the working conditions of large flow rates. Due to the rapid opening and closing operations, it will cause a drastic change in the fluid flow velocity in the pipeline, generating a series of fluid impact phenomena with rapid pressure alternation, which is the water hammer phenomenon. It should be noted here that the term "water hammer" phenomenon described in this application is not limited to the impact generated by the "water" medium, but also includes the impact situations generated by generalized fluid media, such as oil, gas, and mixed fluids, etc.
[0003] The water hammer phenomenon will not only cause the loosening and internal damage of the pipeline and its accessories, but also generate huge "bang bang bang" transient air noises throughout the pipeline, causing discomfort to personnel. More importantly, for underwater vehicles, the water hammer impact will be transmitted through paths such as the pipeline structure, generating high-energy transient underwater noises, affecting the transient acoustic stealth characteristics of underwater vehicles, and easily exposing the position and state of the vehicle body in third-party acoustic detections.
[0004] Due to the long pipeline of underwater vehicles, complex routing, and many hidden positions installed on the main structure of the vehicle, directly conducting water hammer tests will cause damage to the pipeline structure and its related equipment and instruments, and thus trigger safety problems. Summary of the Invention
[0005] In view of the above problems and technical requirements, the applicant of the present application proposes a method and device for evaluating underwater noise caused by water hammer phenomenon based on bench tests, to solve the problem that it is difficult to measure the underwater noise generated when the pipeline of an underwater vehicle in the prior art has a water hammer phenomenon, and to realize reproducing the water hammer phenomenon of the pipeline of an underwater vehicle through the established test bench and evaluating the underwater noise caused by the water hammer phenomenon of the pipeline.
[0006] An embodiment of the present application provides a method for evaluating underwater noise caused by water hammer phenomenon based on bench tests, and the method includes:
[0007] Obtain the operating conditions of the underwater vehicle and the control parameters of the underwater vehicle when a water hammer phenomenon occurs under the operating conditions, where the control parameters include: the pipeline pressure corresponding to the underwater vehicle, the valve closing condition, the operating speed, and the operating angle;
[0008] Input the operation condition and the control parameters into a pre-created prediction model to obtain a multi-directional dynamic excitation force feature matrix output by the prediction model. The prediction model is trained based on operation condition samples, control parameter samples, and multi-directional dynamic excitation force feature matrix samples. The multi-directional dynamic excitation force feature matrix samples are obtained by reproducing the water hammer phenomenon through experiments on a pre-created test bench based on the operation condition samples and the operation data collected in advance when the underwater vehicle is under the operation condition.
[0009] Obtain the force-acoustic transfer frequency response function matrix corresponding to the underwater vehicle under the operation condition.
[0010] Calculate the product of the multi-directional dynamic excitation force feature matrix and the force-acoustic transfer frequency response function matrix, and determine the product as the underwater noise corresponding to the underwater vehicle.
[0011] According to the method for evaluating underwater noise based on water hammer phenomenon in a test bench provided by an embodiment of the present application, the test bench includes: a bench body, a flow sensor for monitoring the liquid flow rate in the pipeline, a pressure sensor installed on the bench body, an acceleration sensor installed on the bench body, a test bench pipeline, an adjustable support structure for the test bench pipeline, and a dynamic force sensor installed at each connection between the support structure and the bench body.
[0012] Among them, the size, orientation, position, function, and mechanism composition of the bench body are consistent with the actual layout state of the underwater vehicle.
[0013] Among them, the operation data includes: the liquid flow rate in the pipeline obtained based on the flow sensor, the pulsating pressure in the pipeline before the valve and the pulsating pressure in the pipeline after the valve obtained based on the pressure sensor, the vibration of the pipeline flange and the vibration of the pipeline support obtained based on the acceleration sensor, and the dynamic force transmitted by the pipeline support obtained based on the dynamic force sensor.
[0014] According to the method for evaluating underwater noise based on water hammer phenomenon in a test bench provided by an embodiment of the present application, the support structure includes: a test bench pipeline support structure corresponding to the actual support structure on the underwater vehicle, and the support impedance simulating the actual support structure.
[0015] Among them, there is a mapping relationship between the support impedance corresponding to the test bench and the actual support impedance corresponding to the underwater vehicle.
[0016] According to the method for evaluating underwater noise based on water hammer phenomenon in a test bench provided by an embodiment of the present application, the test bench further includes: a support impedance adjustment device.
[0017] The support impedance adjustment device is used to adjust the support impedance so that the support impedance corresponding to the test bench is consistent with the actual support impedance corresponding to the underwater vehicle.
[0018] According to the method for evaluating underwater noise based on bench test of water hammer phenomenon provided by the embodiment of the present application, the method further includes:
[0019] Characterize that there is a mapping relationship between the support impedance corresponding to the test bench and the actual support impedance corresponding to the underwater vehicle based on a preset impedance conversion formula;
[0020] Wherein, the impedance conversion formula includes:
[0021]
[0022] Wherein, the data with subscript α represents the data of the test bench, and the data with subscript β represents the data of the underwater vehicle. [F c represents the multi-directional dynamic excitation force characteristic matrix, represents the matrix composed of the origin displacement frequency response function and the cross-point displacement frequency response function corresponding to the upstream of the measurement position, represents the matrix composed of the origin displacement frequency response function and the cross-point displacement frequency response function corresponding to the downstream of the measurement position, represents the connection stiffness matrix between the upstream and downstream mechanisms.
[0023] According to the method for evaluating underwater noise based on bench test of water hammer phenomenon provided by the embodiment of the present application, before obtaining the operating conditions of the underwater vehicle in water and the control parameters of the underwater vehicle when water hammer phenomenon occurs under the operating conditions, it further includes:
[0024] Derive multiple bench test conditions based on the operating conditions;
[0025] Based on the bench test conditions and the operation data, reproduce the water hammer phenomenon on the test bench to obtain the bench operation data and the bench multi-directional dynamic excitation force characteristic matrix;
[0026] Taking the operation data as the reference quantity and the bench operation data as the feedback evaluation quantity, obtain the bench control parameters corresponding to the bench test;
[0027] Taking the bench test conditions as the operation condition samples, the bench control parameters as the control parameter samples, and the bench multi-directional dynamic excitation force characteristic matrix as the multi-directional dynamic excitation force characteristic matrix samples, input them into the prediction model to train the prediction model.
[0028] According to the method for evaluating underwater noise based on water hammer phenomenon in a bench test provided by an embodiment of the present application, obtaining the force-acoustic transfer frequency response function matrix corresponding to the underwater vehicle under the operating conditions includes:
[0029] Create a numerical model corresponding to the underwater vehicle;
[0030] Calculate the force-acoustic transfer frequency response function matrix based on the numerical model.
[0031] According to the method for evaluating underwater noise based on water hammer phenomenon in a bench test provided by an embodiment of the present application, obtaining the force-acoustic transfer frequency response function matrix corresponding to the underwater vehicle under the operating conditions includes:
[0032] Measure the force-acoustic transfer frequency response function matrix at the connection between each pipeline support and the foundation when the underwater vehicle is in the water state.
[0033] According to the method for evaluating underwater noise based on water hammer phenomenon in a bench test provided by an embodiment of the present application, after calculating the product of the multi-directional dynamic excitation force characteristic matrix and the force-acoustic transfer frequency response function matrix and determining the product as the underwater noise corresponding to the underwater vehicle, it further includes:
[0034] Optimize any one or more of the valve structure, pipe system regulation scheme, pipeline support structure, and pipeline layout of the underwater vehicle based on the underwater noise.
[0035] An embodiment of the present application further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the steps of the method for evaluating underwater noise based on water hammer phenomenon in a bench test as described in any one of the above.
[0036] The method and device for evaluating underwater noise based on water hammer phenomenon in a bench test provided by an embodiment of the present application obtain the multi-directional dynamic excitation force characteristic matrix of the underwater vehicle through a prediction model trained with sample data obtained by reproducing the water hammer phenomenon through a test bench; obtain the force-acoustic transfer frequency response function matrix corresponding to the underwater vehicle under the operating conditions; calculate the product of the multi-directional dynamic excitation force characteristic matrix and the force-acoustic transfer frequency response function matrix, and determine the product as the underwater noise corresponding to the underwater vehicle. The present application can directly obtain the corresponding multi-directional dynamic excitation force characteristic matrix based on the operating conditions and control parameters of the underwater vehicle by using a pre-trained prediction model, and then obtain the underwater noise, achieving the purpose of quickly and accurately obtaining the underwater noise, and without the need for actual measurement on the underwater vehicle, avoiding damage to the underwater vehicle, and realizing the purpose of reproducing the pipeline water hammer phenomenon of the underwater vehicle through the established test bench and evaluating the underwater noise caused by the pipeline water hammer phenomenon. Description of the Drawings
[0037] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0038] Figure 1 It is a schematic flow chart of a method for evaluating underwater noise based on water hammer phenomenon in a bench test provided by an embodiment of the present application;
[0039] Figure 2 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Specific embodiments
[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.
[0041] An embodiment of the present application provides a method for evaluating underwater noise based on water hammer phenomenon in a bench test. This method can be applied to intelligent terminals, servers, and also to the controllers of underwater vehicles. This application takes the application of this method in the controller of an underwater vehicle as an example for illustration, and some other descriptions in the embodiments are for illustrative purposes and are not used to limit the protection scope of the present application, and will not be elaborated one by one hereafter. The specific implementation of this method is as Figure 1 shown:
[0042] Step 101: Obtain the operating conditions of the underwater vehicle and the control parameters of the underwater vehicle when water hammer phenomenon occurs under the operating conditions.
[0043] Among them, the control parameters include: the pipeline pressure corresponding to the underwater vehicle, the valve closing condition, the operating speed, and the operating angle.
[0044] Step 102: Input the operating conditions and control parameters into a pre-created prediction model to obtain a multi-directional dynamic excitation force feature matrix output by the prediction model.
[0045] Among them, the prediction model is trained based on the operation condition samples, control parameter samples, and multi-directional dynamic excitation force characteristic matrix samples. The multi-directional dynamic excitation force characteristic matrix samples are obtained based on the operation condition samples and the operation data of the underwater vehicle collected in advance under the operation conditions, and the water hammer phenomenon is reproduced through experiments on a pre-created test bench.
[0046] Step 103: Obtain the force-acoustic transfer frequency response function matrix corresponding to the underwater vehicle under the operation conditions.
[0047] Among them, the force-acoustic transfer frequency response function matrix represents the coupling matrix of the transfer relationship between the output vector and the input vector.
[0048] Among them, the input vector is the excitation force signal, and the output vector is the sound pressure signal.
[0049] Step 104: Calculate the product of the multi-directional dynamic excitation force characteristic matrix and the force-acoustic transfer frequency response function matrix, and determine the product as the underwater noise corresponding to the underwater vehicle.
[0050] The method for evaluating underwater noise based on the water hammer phenomenon in the bench test provided by the embodiments of the present application obtains the multi-directional dynamic excitation force characteristic matrix of the underwater vehicle through the prediction model trained with the sample data obtained by reproducing the water hammer phenomenon through experiments on the test bench; obtains the force-acoustic transfer frequency response function matrix corresponding to the underwater vehicle under the operation conditions; calculates the product of the multi-directional dynamic excitation force characteristic matrix and the force-acoustic transfer frequency response function matrix, and determines the product as the underwater noise corresponding to the underwater vehicle. The present application can directly obtain the corresponding multi-directional dynamic excitation force characteristic matrix based on the operation conditions and control parameters of the underwater vehicle by using the pre-trained prediction model, and then obtain the underwater noise, achieving the purpose of quickly and accurately obtaining the underwater noise, and without the need for the underwater vehicle to carry out actual measurements, avoiding damage to the underwater vehicle, and realizing the purpose of reproducing the pipeline water hammer phenomenon of the underwater vehicle through the established test bench and evaluating the underwater noise caused by the pipeline water hammer phenomenon.
[0051] In a specific embodiment, the test bench includes: a bench body, a flow sensor for monitoring the liquid flow in the pipeline, a pressure sensor installed on the bench body, an acceleration sensor installed on the bench body, a test bench pipeline, an adjustable support structure for the test bench pipeline, and a dynamic force sensor installed at each connection between the support structure and the bench body.
[0052] Among them, the size, orientation, position, function, and mechanism composition of the bench body are consistent with the actual layout state of the underwater vehicle.
[0053] Among them, the operating data includes: the pipeline liquid flow rate obtained based on a flow sensor, the pulsating pressure inside the pipeline before the valve, the pulsating pressure inside the pipeline after the valve, the vibration of the pipeline flange and the vibration of the pipeline support obtained based on an acceleration sensor, and the dynamic force transmitted by the pipeline support obtained based on a dynamic force sensor.
[0054] Specifically, holes are drilled on the upper, lower, left, and right pipe walls before and after the main valve and along the pipeline to arrange broadband pulsating pressure sensors, and the sensing heads of the pressure sensors are flush with the inner pipe wall. The pressure data of the pipeline along the line is weighted and evaluated. The purpose of arranging pressure sensors at each upper, lower, left, and right position is to eliminate or compensate for the errors in circumferential measurement. And, the pressure sensors usually adopt piezoresistive sensing methods, and further piezoelectric sensing methods can be adopted, that is, through quasi-static (piezoelectric sensing combined with a charge amplifier with a long time constant for acquisition) measurement and combined with static (acquired through a traditional static pressure sensor) measurement methods to be realized, which is used to improve the adaptability of the measurement accuracy of small pulsating pressures under different ranges under complex working conditions.
[0055] Three-axis acceleration sensors are arranged on the main valve and its nearby pipe walls or flanges, and three-axis dynamic force sensors are arranged at each pipeline support position connected to the installation foundation. Among them, the installation foundation refers to the ground or a platform equivalent to the ground (usually tending to have rigid characteristics).
[0056] The main valve adopts a spool and valve body structure that is the same as or as similar as possible to the structure of an underwater vehicle. An electric actuator with programmable and adaptive feedback control is used to drive the opening and closing of the valve, and it can continuously control the stage parameters (operation stage), angular velocity parameters (corresponding operation speed), and angle parameters (corresponding operation angle) of the valve opening and closing process at any time point.
[0057] In a specific embodiment, the support structure includes: a bench pipeline support structure corresponding to the actual support structure on the underwater vehicle, and the support impedance simulating the actual support structure.
[0058] Among them, there is a mapping relationship between the support impedance corresponding to the test bench and the actual support impedance corresponding to the underwater vehicle.
[0059] Among them, the support impedance is used for dynamic force measurement and simulating the actual support impedance (or support stiffness).
[0060] Specifically, dynamic force sensors (three-component dynamic force sensors or six-component dynamic force sensors) are arranged at each position of the bench pipeline support structure and the simulated actual support mechanism (as close as possible to the position simulating the support of the installation foundation), and a pre-tightening installation method with high connection strength is used for the connection of the dynamic force sensors.
[0061] In a specific embodiment, the test bench further includes: a support impedance adjustment device.
[0062] The support impedance adjustment device is used to adjust the support impedance so that the support impedance corresponding to the test bench is consistent with the actual support impedance corresponding to the underwater vehicle.
[0063] Specifically, the support impedance adjustment device adopts an adjustable structure with adjustable height and stiffness. After adjustment, the support impedance in the installation state of the test bench is made consistent with the support impedance of the underwater vehicle in the installation state. On the one hand, it is used for non-linear adjustment and simulation of the actual support impedance, and on the other hand, it can reduce the ill-conditioning of the force measurement data processing. Among them, the rigid adjustable structure is preferably in the form of positive-negative stiffness parallel adjustment, such as adjusting the positive stiffness through a spring structure and adjusting the negative stiffness through a current-type electromagnet structure.
[0064] In a specific embodiment, based on a preset impedance conversion formula, it is characterized that there is a mapping relationship between the support impedance corresponding to the test bench and the actual support impedance corresponding to the underwater vehicle.
[0065] Among them, the impedance conversion formula is shown in formula (1):
[0066]
[0067] Among them, the data with subscript α represents the data of the test bench, and the data with subscript β represents the data of the underwater vehicle. [F c represents the multi-directional dynamic excitation force characteristic matrix, represents the matrix composed of the origin displacement frequency response function and the cross-point displacement frequency response function corresponding to the upstream of the measurement position, represents the matrix composed of the origin displacement frequency response function and the cross-point displacement frequency response function corresponding to the downstream of the measurement position, represents the connection stiffness matrix between the upstream and downstream mechanisms.
[0068] Among them, the upstream includes pipelines and the actual support structure, the downstream includes the support impedance adjustment device and the installation foundation, and the connection stiffness matrix is obtained through testing or simulation calculation.
[0069] Among them, the origin displacement frequency response function represents the function corresponding to the excitation and response at one position, and the cross-point displacement frequency response function represents the function corresponding to the excitation and response at different positions.
[0070] Among them, the origin displacement frequency response function and the cross-point displacement frequency response function are the displacement responses corresponding to the action of a unit force.
[0071] In a specific embodiment, before obtaining the operating conditions of an underwater vehicle and the control parameters of the underwater vehicle when water hammer phenomenon occurs under the operating conditions, a plurality of bench test conditions are derived based on the operating conditions; the water hammer phenomenon is reproduced through tests on a test bench based on the bench test conditions and operating data, and bench operating data and a multi-directional dynamic excitation force characteristic matrix of the bench are obtained; taking the operating data as a reference quantity and the bench operating data as a feedback evaluation quantity, the bench control parameters corresponding to the bench test are obtained; taking the bench test conditions as operating condition samples, the bench control parameters as control parameter samples, and the multi-directional dynamic excitation force characteristic matrix of the bench as a multi-directional dynamic excitation force characteristic matrix sample, and inputting them into a prediction model to train the prediction model.
[0072] Specifically, for an underwater vehicle or a parent type vehicle similar to the underwater vehicle, under the joint debugging state of a land test bench (which can also be a pool, lake, sea, etc.), the bench operating data corresponding to the test bench when the water hammer phenomenon occurs is obtained by using the bench test conditions.
[0073] In addition, since the operating data corresponds to the bench operating data, it is necessary to screen the operating data based on importance and credibility.
[0074] Specifically, the multi-directional dynamic excitation force characteristic matrix of each pipeline support acting on the installation foundation under the impact of the water hammer phenomenon is evaluated and predicted based on the bench test conditions. Among them, for a land test bench, the installation foundation of the pipeline system refers to the ground or a platform equivalent to the ground (usually having rigid characteristics), and for a vehicle, the installation foundation of the pipeline system refers to the hull of the vehicle or structures such as a pedestal installed on the hull (usually having dynamic elastic characteristics). Therefore, it is necessary to obtain the mapping relationship between the two, which has been described above and will not be repeated here.
[0075] Specifically, when reproducing the water hammer phenomenon, taking the operating data as a reference quantity, the bench operating data as a feedback evaluation quantity, the pipeline pressure (the pressure of pneumatic water transfer), the valve closing condition, the operating speed, and the operating angle as control quantities, the bench control parameters under the optimal fit are obtained through adaptive feedback control. The bench control parameters are a set of specific control quantities. Under the control state (bench control parameters) of the water hammer phenomenon obtained through reproduction, multiple repeated tests are carried out to obtain the average value of multiple groups of control quantities, and the final average value is used as the optimal control quantity (i.e., the bench control parameters). And the dynamic force of each pipeline support acting on the installation foundation under the water hammer impact is collected to obtain the multi-directional dynamic excitation force characteristic matrix of the bench.
[0076] Furthermore, a test bench is used to test the water hammer impact characteristics under different conditions. A large number of tests are carried out by adjusting parameters such as the opening and closing characteristics of valves, the stiffness of pipeline supports, pipeline pressure, operating speed, and operating angle. Based on the test results, a surrogate model based on machine learning is used for non-linear learning and fitting to obtain a prediction model of the action of each pipeline support on the foundation installation under different water hammer conditions.
[0077] The vibration and noise caused by water hammer impact are highly non-linear. Combining methods such as surrogate models based on machine learning can consider non-linear factors and improve the prediction and fitting accuracy. In addition, based on the test results of directly measuring the force by the bench support and according to the impedance of the actual ship and the frequency response relationship of force-acoustic transmission, the accuracy of evaluating the underwater noise caused by water hammer impact under different test conditions can be improved.
[0078] In a specific embodiment, the specific implementation of obtaining the force-acoustic transfer frequency response function matrix of the underwater vehicle under operating conditions includes:
[0079] Create a numerical model corresponding to the underwater vehicle; calculate the force-acoustic transfer frequency response function matrix based on the numerical model.
[0080] In a specific embodiment, the specific implementation of obtaining the force-acoustic transfer frequency response function matrix of the underwater vehicle under operating conditions includes:
[0081] Measure the force-acoustic transfer frequency response function matrix at each pipeline support and the foundation connection of the underwater vehicle in the water state.
[0082] In a specific embodiment, after calculating the product of the multi-directional dynamic excitation force characteristic matrix and the force-acoustic transfer frequency response function matrix and determining the product as the underwater noise corresponding to the underwater vehicle, optimize any one or more of the valve structure, pipe system regulation scheme, pipeline support structure, and pipeline layout of the underwater vehicle based on the underwater noise.
[0083] Optimize any one or more of the valve structure, pipe system regulation scheme, pipeline support structure, and pipeline layout in the test bench through the underwater noise optimization. Furthermore, based on this, optimize any one or more of the valve structure, pipe system regulation scheme, pipeline support structure, and pipeline layout of the underwater vehicle.
[0084] This application can effectively solve the problem that it is difficult to evaluate the underwater noise caused by pipeline water hammer in existing underwater vehicles. Through bench tests, on the one hand, the evaluation and prediction accuracy can be improved by actual measurement compared with pure simulation, and on the other hand, the risk and test cost of actual navigation tests can be reduced. Moreover, through manual control and electric control methods, water hammer phenomena of any form and size can be reproduced and generated, producing a large number of samples, which improves the prediction accuracy of the prediction model.
[0085] Figure 2Illustrates a schematic diagram of the physical structure of an electronic device, as Figure 2 shown. The electronic device may include: a processor 201, a communications interface 202, a memory 203, and a communication bus 204. Among them, the processor 201, the communications interface 202, and the memory 203 communicate with each other through the communication bus 204. The processor 201 may call the logical instructions in the memory 203 to execute the method for evaluating underwater noise based on the water hammer phenomenon in a bench test.
[0086] In addition, when the logical instructions in the above-mentioned memory 203 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.
[0087] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the method for evaluating underwater noise based on the water hammer phenomenon provided by the above-mentioned various methods.
[0088] On yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the method for evaluating underwater noise based on the water hammer phenomenon provided by the above-mentioned various embodiments.
[0089] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.
[0090] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.
[0091] Finally, it should be noted that the above is only the preferred implementation of the present application, and the present application is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included in the scope of protection of the present application.
Claims
1. A method for evaluating underwater noise based on water hammer phenomenon in bench tests, characterized in that: The method comprises: Acquire the operating conditions of the underwater vehicle and the control parameters of the underwater vehicle when water hammer occurs under the operating conditions, wherein the control parameters include: pipeline pressure, valve closing condition, operating speed and operating angle corresponding to the underwater vehicle; Inputting the operating condition and the control parameter into a pre-created prediction model to obtain a multi-directional dynamic excitation force characteristic matrix output by the prediction model, wherein the prediction model is trained based on operating condition samples, control parameter samples and multi-directional dynamic excitation force characteristic matrix samples, and the multi-directional dynamic excitation force characteristic matrix samples are obtained by reproducing water hammer phenomena by conducting an experiment on a pre-created test bench based on the operating condition samples and pre-collected operating data generated by an underwater vehicle under the operating condition; Obtaining a force-acoustic transfer frequency response function matrix corresponding to the underwater vehicle under the operating condition; The product of the multi-directional dynamic excitation force characteristic matrix and the force-acoustic transfer frequency response function matrix is calculated, and the product is determined as the underwater noise corresponding to the underwater vehicle.
2. The method for evaluating underwater noise based on water hammer phenomenon of bench test according to claim 1 is characterized in that: The test bench comprises: a bench body, a flow sensor for monitoring the flow of liquid in the pipeline, a pressure sensor installed on the bench body, an acceleration sensor installed on the bench body, a test bench pipeline, an adjustable support structure of the test bench pipeline, and a dynamic force sensor installed at each connection between the support structure and the bench body; The size, orientation, position, function and mechanism composition of the platform body are consistent with the actual arrangement state of the underwater vehicle; Among them, the operating data includes: the pipeline liquid flow obtained based on the flow sensor, the pulsating pressure in the pipe before the valve obtained based on the pressure sensor, the pulsating pressure in the pipe after the valve obtained based on the pressure sensor, the pipeline flange vibration and pipeline support vibration obtained based on the acceleration sensor, and the dynamic force transmitted by the pipeline support obtained based on the dynamic force sensor.
3. The method for evaluating underwater noise based on water hammer phenomenon of bench test according to claim 2 is characterized in that: The support structure includes: a gantry pipeline support structure corresponding to an actual support structure on the underwater vehicle, and a simulated support impedance of the actual support structure; There is a mapping relationship between the support impedance corresponding to the test bench and the actual support impedance corresponding to the underwater vehicle.
4. The method for evaluating underwater noise based on water hammer phenomenon of bench test according to claim 3 is characterized in that: The test bench also includes: a support impedance adjustment device; The support impedance adjustment device is used to adjust the support impedance so that the support impedance corresponding to the test bench is consistent with the actual support impedance corresponding to the underwater vehicle.
5. The method for evaluating underwater noise based on water hammer phenomenon of bench test according to claim 3 is characterized in that: The method further comprises: Based on a preset impedance conversion formula, it is characterized that there is a mapping relationship between the support impedance corresponding to the test bench and the actual support impedance corresponding to the underwater vehicle; Wherein, the impedance conversion formula includes: Among them, the data with a superscript α represent the data of the test bench, and the data with a superscript β represent the data of the underwater vehicle. c ] represents the multi-directional dynamic excitation force characteristic matrix, Represents the matrix composed of the origin displacement frequency response function and the span displacement frequency response function corresponding to the upstream of the measurement position, Represents the matrix composed of the origin displacement frequency response function and the span displacement frequency response function corresponding to the downstream of the measurement position, Represents the connection stiffness matrix between the upstream and downstream mechanisms.
6. The method for evaluating underwater noise based on water hammer phenomenon of bench test according to any one of claims 1 to 5, characterized in that: Before obtaining the operating conditions of the underwater vehicle and the control parameters of the underwater vehicle when water hammer occurs under the operating conditions, the method further includes: Deriving multiple bench test conditions based on the operating conditions; Based on the bench test conditions and the operating data, a test is conducted on the test bench to reproduce the water hammer phenomenon, and the bench operating data and the bench multi-directional dynamic excitation force characteristic matrix are obtained; Using the operating data as a reference quantity and the bench operating data as a feedback evaluation quantity, a bench control parameter corresponding to the bench test is obtained; The bench test condition is used as the operating condition sample, the bench control parameter is used as the control parameter sample, and the bench multi-directional dynamic excitation force characteristic matrix is used as the multi-directional dynamic excitation force characteristic matrix sample to input into the prediction model to train the prediction model.
7. The method for evaluating underwater noise based on water hammer phenomenon of bench test according to any one of claims 1 to 6, characterized in that: Obtaining a force-acoustic transfer frequency response function matrix corresponding to the underwater vehicle under the operating condition, including: Creating a numerical model corresponding to the underwater vehicle; The force-acoustic transfer frequency response function matrix is calculated based on the numerical model.
8. The method for evaluating underwater noise based on water hammer phenomenon of bench test according to any one of claims 1 to 6, characterized in that: Obtaining a force-acoustic transfer frequency response function matrix corresponding to the underwater vehicle under the operating condition, including: The force-acoustic transfer frequency response function matrix of each pipeline support and foundation connection point when the underwater vehicle is in the water is measured.
9. The method for evaluating underwater noise based on water hammer phenomenon of bench test according to any one of claims 1 to 6, characterized in that: After calculating the product of the multi-directional dynamic excitation force characteristic matrix and the force-acoustic transfer frequency response function matrix, and determining the product as the underwater noise corresponding to the underwater vehicle, the method further includes: Based on the underwater noise, any one or more of the valve structure, piping control scheme, pipeline support structure and pipeline layout of the underwater vehicle are optimized.
10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method for evaluating underwater noise based on the water hammer phenomenon of a bench test as described in any one of claims 1 to 9 are implemented.