Suspension tunnel vortex-induced vibration experimental device based on perception and feedback control

Abstract

The application provides a suspension tunnel vortex-induced vibration experimental device based on perception and feedback control, a suspension tunnel rigid segmented model is connected with a streamwise actuation system, the streamwise actuation system is connected with a cross-flow actuation system, and a force feedback control system controls the streamwise actuation system and the cross-flow actuation system; the suspension tunnel rigid segmented model comprises two pipe column models and two flow baffles, and the two pipe column models are arranged side by side at intervals; the pipe column model comprises a suspension tunnel model hydrodynamic shell, an internal square column and two force measurement modules; the suspension tunnel model hydrodynamic shell is sleeved on the outside of the internal square column in a concentric shaft mode; the two force measurement modules are arranged at two ends of the internal square column and located at two ends of the suspension tunnel model hydrodynamic shell. The application realizes two-degree-of-freedom coupling motion of the suspension tunnel vortex-induced vibration in the cross-flow direction and the streamwise direction under high Reynolds number, and can accurately simulate the stiffness characteristics of the suspension tunnel mooring system.

Description

Technical Field

[0001] This invention relates to the field of marine engineering technology, specifically to an experimental device for vortex-induced vibration of a suspended tunnel based on sensing and feedback control, and more particularly to an experimental device for vortex-induced vibration of a high Reynolds number suspended tunnel based on sensing and feedback control. Background Technology

[0002] Suspended tunnels are a newly emerging mode of cross-sea transportation in recent years. A suspended tunnel typically consists of a tubular main structure (a twin-tube structure is common) suspended in water, supporting structures (such as tension legs and pontoons), and components connecting to the two banks. Its shape is usually cylindrical or elliptical. Under the influence of background ocean currents, periodic vortex shedding occurs at the tail of the tunnel tube, generating pulsating pressure in both transverse and longitudinal directions. This induces retardation vibration of the suspended tunnel structure, also known as vortex-induced vibration. This vibration can lead to fatigue and even damage to the main structure. As a large-span, large-diameter twin-tube structure, suspended tunnels exhibit extremely complex spatiotemporal multi-scale, nonlinear, and unsteady-state dynamic responses to vortex-induced vibration under the influence of the marine dynamic environment and the complex hydrodynamic interference between the tubes. Therefore, suspended tunnel technology is a disruptive technology facing the forefront of global science and technology and addressing major national needs.

[0003] Model experiments are an important method for studying the hydrodynamic and response characteristics of suspended tunnels. These experiments are typically conducted in marine engineering tanks. A smaller-scale model is created by scaling down the original structure according to similarity criteria at a certain ratio. This model is then placed in a wave-current tank or towed by a trailer to simulate the relative flow field in the marine environment. However, due to the large scale of suspended tunnels, the Reynolds number of the flow field in the marine environment they operate in often reaches 10. 6 However, the scaled-down experiments described above significantly reduced the Reynolds number of the simulated flow field in the current experiments to 10. 4 The magnitude of this difference in Reynolds number alters the vortex shedding patterns in the surrounding flow field, resulting in completely different fluid-structure interaction response characteristics of the structure. Furthermore, in experiments, the mooring stiffness of suspended tunnel models is often simulated using physical springs, a method that struggles to simulate the nonlinear stiffness of real mooring chains. These issues contribute to the distortion of current research on the hydrodynamic response characteristics of suspended tunnels.

[0004] Patent document CN114152245A discloses a multi-dimensional motion posture measurement system and calculation method for underwater suspended tunnel tests. The provided measurement and calculation method and system can measure the bending, torsion, or combined dynamic deformation of the suspended tunnel, and obtain the displacement or posture at any cross-section of the tunnel body, realizing multi-dimensional and multi-modal flexible motion response measurement of the full-span structure of the suspended tunnel. Patent document CN114088344A discloses an experimental device and method for determining the dynamic hydrodynamic load parameters of a suspended tunnel, including a wave test tank, tank baffles, and a suspended tunnel model.

[0005] The aforementioned patent documents have the following shortcomings: a) Bottlenecks in large-scale model experiment technology: The requirement for large-scale models in high Reynolds number experiments directly leads to engineering problems such as high manufacturing costs and complex on-site installation and debugging. Furthermore, a more severe scientific challenge is the significant difference in magnitude between the enormous inertial force of the model and the hydrodynamic force being measured. This extremely low signal-to-noise ratio test condition poses a huge challenge to sensor selection and data processing, directly affecting the accuracy of the test results; b) Difficulty in simulating nonlinear stiffness: The stiffness of a real mooring is determined by both geometric and material nonlinearity, dynamically changing with displacement. However, the physical characteristics of linear spring models in laboratory environments dictate that they can only provide constant stiffness, failing to capture this crucial dynamic response mechanism. This challenge stems from both physical principles and dynamic... The complete mismatch of the process is the core issue causing the deviation between simulation results and reality; c. Structural parameters are difficult to control. Traditional suspended tunnel model tests lack universality due to the fixed structural parameters (mass, stiffness, damping), which seriously restricts parametric research. Parameter adjustment relies on cumbersome hardware replacement. This bottleneck is particularly prominent in large-scale tests. Replacing large components such as high-stiffness springs is not only extremely difficult to operate, but also makes the test cost and cycle out of control; d. Two-degree-of-freedom motion is difficult to simulate. Limited by traditional test techniques, it is extremely challenging to accurately realize two-degree-of-freedom coupled vibration and ensure the consistency of its motion plane and dynamic parameters. Therefore, the study is often simplified to single-degree-of-freedom transverse vibration. However, this simplification ignores the strong coupling effect between the longitudinal and transverse directions, leading to a bias in the understanding of the mechanism. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide an experimental device for vortex-induced vibration of a suspended tunnel based on sensing and feedback control.

[0007] According to the present invention, a suspended tunnel vortex-induced vibration experimental device based on sensing and feedback control includes: a rigid segmented model of the suspended tunnel, a downstream actuation system, a cross-flow actuation system, and a force feedback control system.

[0008] The rigid segmented model of the suspended tunnel is connected to the downstream actuation system, the downstream actuation system is connected to the cross-flow actuation system, and the force feedback control system controls the downstream actuation system and the cross-flow actuation system.

[0009] The rigid segmented model of the suspended tunnel includes: two cylindrical models and two baffles, with the two cylindrical models arranged side by side at intervals; each cylindrical model includes: a hydrodynamic shell of the suspended tunnel model, an internal square column, and two force measurement modules; the hydrodynamic shell of the suspended tunnel model is concentrically fitted onto the outside of the internal square column; the two force measurement modules are respectively located at both ends of the internal square column and at both ends of the hydrodynamic shell of the suspended tunnel model.

[0010] The force measurement module includes a multidimensional force gauge, an internal square column, a force transmission disk, and a limiting block; the multidimensional force gauge is connected to the internal square column via a connecting component, and the force transmission disk is connected to the multidimensional force gauge; the limiting block is disposed on the force transmission disk and can contact the end edge of the hydrodynamic shell of the suspended tunnel model, restricting the relative movement of the hydrodynamic shell of the suspended tunnel model with respect to the force transmission disk along its axial direction;

[0011] One baffle is connected to the force transmission disk at one end of the two internal square pillars, and the other baffle is connected to the force transmission disk at the other end of the two internal square pillars; the downstream actuation system is connected to one of the two baffles.

[0012] Preferably, the connecting component includes: a force gauge support and a connecting clamp;

[0013] The connecting clamp is connected to the internal square column, the force gauge support is connected to the connecting clamp, and the multidimensional force gauge is connected to the force gauge support.

[0014] The multidimensional force gauge, the force gauge support, and the connecting clamp are located inside the hydrodynamic shell of the suspended tunnel model.

[0015] During the experiment, the hydrodynamic force exerted on the hydrodynamic shell of the suspended tunnel model can be transmitted to the multidimensional force gauge through the force transmission disk.

[0016] Preferably, the hydrodynamic outer shell of the suspended tunnel model is a cylindrical tube;

[0017] The inner diameter of the hydrodynamic shell of the suspended tunnel model is the same as the outer diameter of the force transmission disk, and the force transmission disk is located at the port of the hydrodynamic shell of the suspended tunnel model.

[0018] Preferably, the diameters of the hydrodynamic shells of the two cylindrical models of the suspended tunnel model are the same.

[0019] Preferably, the length of the hydrodynamic shell of the suspended tunnel model is equal to the vertical distance between the upper surfaces of the two force-transmitting disks located at its two ends;

[0020] The upper surface of the force transmission disk is the surface that is connected to the baffle plate;

[0021] The hydrodynamic shell of the suspended tunnel model is in close contact with the force transmission disk.

[0022] Preferably, the baffle is connected to the downstream actuation system via a guide rail connector.

[0023] Preferably, the connecting clamp is connected to the internal square column by bolts;

[0024] The force gauge support is connected to the connecting clamp plate by bolts;

[0025] The multidimensional force gauge is connected to the force gauge support by bolts;

[0026] The force transmission disk is connected to the two multidimensional force gauges by bolts.

[0027] Preferably, the force feedback control system includes: a physical signal acquisition system, a host computer control system, and a motor control system;

[0028] The physical signal acquisition system includes a multi-dimensional force gauge and an encoder; the multi-dimensional force gauge can measure the hydrodynamic load on the rigid segment model of the suspended tunnel in real time; the encoder can measure the motion displacement of the downstream actuation system and the transverse actuation system in real time.

[0029] The host computer control system includes a numerical algorithm module and a motion control card. The numerical algorithm module can simulate and calculate a two-degree-of-freedom spring-mass-damped vibration system. The numerical algorithm uses the hydrodynamic load measured by the multi-dimensional force gauge to solve the displacement response of the rigid segment model of the suspended tunnel in the downstream and cross-flow directions in real time. The motion control card can convert the displacement response calculated by the numerical algorithm into motion command information and send it to the motor control system.

[0030] The motor control system includes a forward-flow motor driver and a cross-flow motor driver; the forward-flow motor driver and the cross-flow motor driver receive motion command information sent by the host computer control system and drive the forward-flow actuation system and the cross-flow actuation system.

[0031] Preferably, the force feedback control system further includes: an interactive interface system and an EtherCAT bus;

[0032] The interactive interface system is used by the user to input the vibration parameters of the rigid segment model of the suspended tunnel in the transverse and longitudinal directions into the experimental device. The vibration parameters include virtual mass, virtual stiffness, and virtual damping. The interactive interface system can display the real-time motion of the rigid segment model of the suspended tunnel to the user.

[0033] The EtherCAT bus is used to connect the host computer control system, the physical signal acquisition system, the motor control system, and the interactive interface system, and to realize communication and command transmission between the various systems.

[0034] Preferably, the specific process of conducting the experiment using a suspended tunnel vortex-induced vibration experimental device based on sensing and feedback control is as follows:

[0035] The experimental device is installed on a trailer in a marine engineering pool, so that the rigid segment model of the suspended tunnel is completely submerged in the pool. The pool trailer is started and moved at a constant speed to create a uniform flow relative to the rigid segment model of the suspended tunnel.

[0036] The hydrodynamic load of the rigid segment model of the suspended tunnel in a uniform flow is measured by the multidimensional force gauge, and the real-time position of the rigid segment model of the suspended tunnel in the downstream and cross-flow directions is measured by the encoder. The hydrodynamic load data and real-time position data are transmitted to the host computer control system through the physical signal acquisition system.

[0037] The host computer control system utilizes a two-degree-of-freedom spring-mass-damped vibration system to solve the motion control equations of the rigid segment model of the suspended tunnel in real time using the numerical algorithm. It calculates the target position that the rigid segment model of the suspended tunnel will reach in the next moment under the current force conditions and transmits the target position data to the motion control card. The motion control card responds to motion commands based on the target position data and transmits the response motion commands to the downstream motor driver and the cross-flow motor driver. The downstream motor driver and the cross-flow motor driver drive the downstream actuation system and the cross-flow actuation system according to the motion commands, which in turn drive the rigid segment model of the suspended tunnel to the target position.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] 1. This invention can overcome the shortcomings of traditional vortex-induced vibration experimental methods, making the Reynolds number of the flow field during the experiment closer to the real situation, and realizing a two-degree-of-freedom experiment on the vortex-induced vibration response of a suspended tunnel and a mechanistic experiment on parameter ergonomics.

[0040] 2. This invention enables the simulation of eddy-induced vibration in high Reynolds number flow fields while maintaining a lightweight device, which is closer to the real marine environment, thereby obtaining response laws and basic data of hydrodynamic loads that have guiding significance for practical engineering.

[0041] 3. This invention supports the synchronous decoupling measurement of the hydrodynamics of each independent model in a dual-model system, thereby enabling in-depth mechanistic exploration of key scientific issues such as the torque effect caused by asynchronous lift and the downstream coupling effect caused by asymmetric drag.

[0042] 4. The application of the force feedback technology of this invention greatly simplifies the switching of working conditions, significantly reduces the cycle and cost of the experiment, and comprehensively improves the efficiency, depth and universality of the research work.

[0043] 5. This invention employs a hybrid experimental technique of sensing-feedback control, which overcomes the problems of difficulty in equivalent nonlinear stiffness and difficulty in traversing structural parameters in traditional experimental methods, and achieves precise control of system structural parameters.

[0044] 6. Based on the hybrid model technology, this invention achieves accurate simulation and control of two-degree-of-freedom motion, effectively overcoming the problem of inconsistent dynamic parameters across directions in traditional experiments and avoiding the serious distortion introduced by the single-degree-of-freedom approximation. Attached Figure Description

[0045] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0046] Figure 1 This is a schematic diagram of the structure of the experimental device for vortex-induced vibration of a suspended tunnel based on sensing and feedback control.

[0047] Figure 2 This is a front view of the experimental setup for vortex-induced vibration of a suspended tunnel based on sensing and feedback control.

[0048] Figure 3 This is a top view of the experimental setup for vortex-induced vibration of a suspended tunnel based on sensing and feedback control.

[0049] Figure 4 This is a structural schematic diagram of a rigid segmented model of a suspended tunnel;

[0050] Figure 5 To highlight the internal structure diagram of the rigid segment model of the suspended tunnel;

[0051] Figure 6 To highlight the structural diagram of the downstream actuation system;

[0052] Figure 7 This is a schematic diagram of the crossflow actuation system;

[0053] Figure 8 This is a schematic diagram of a force feedback control system.

[0054] The diagram shows:

[0055] 1. Rigid segmented model of the suspended tunnel; 2. Downstream actuation system; 3. Crossstream actuation system; 4. Hydrodynamic shell of the suspended tunnel model; 5. Multidimensional force gauge; 6. Force gauge support; 7. Internal square column; 8. Connecting clamp; 9. Force transmission disk; 10. Limiting block; 11. Baffle plate; 12. Track connector; 13. Downstream actuation servo motor; 14. Downstream motion module; 15. Downstream connector; 16. Downstream diagonal brace; 17. Crossstream actuation servo motor; 18. Crossstream... 19. Flow-direction truss; 20. Force feedback control system; 21. Physical signal acquisition system; 22. Multidimensional force gauge module; 23. Encoder; 24. Host computer control system; 25. Numerical algorithm module; 26. Motion control card; 27. Motor control system; 28. Flow-direction motor driver; 29. ​​Flow-direction motor driver; 30. Interactive interface system; 31. EtherCAT bus; 32. Flow-direction truss; 33. Flow-direction slider; 34. Flow-direction slider. Detailed Implementation

[0056] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0057] Example 1

[0058] like Figures 1 to 8 As shown, this embodiment provides an experimental device for vortex-induced vibration of a suspended tunnel based on sensing and feedback control, including: a rigid segmented model 1 of the suspended tunnel, a downstream actuation system 2, a cross-flow actuation system 3, and a force feedback control system 20. The rigid segmented model 1 of the suspended tunnel is connected to the downstream actuation system 2, and the downstream actuation system 2 is connected to the cross-flow actuation system 3. The force feedback control system 20 controls the downstream actuation system 2 and the cross-flow actuation system 3.

[0059] The rigid segmented model 1 of the suspended tunnel includes: two cylindrical models and two baffles 11, with the two cylindrical models arranged side-by-side at intervals; each cylindrical model includes: a hydrodynamic shell 4 of the suspended tunnel model, an internal square column 7, and two force measurement modules; the hydrodynamic shell 4 of the suspended tunnel model is concentrically fitted onto the outside of the internal square column 7; the two force measurement modules are respectively located at both ends of the internal square column 7 and at both ends of the hydrodynamic shell 4 of the suspended tunnel model; each force measurement module includes a multidimensional force gauge 5, an internal square column 7, a force transmission disk 9, and a limiting block 10; the multidimensional force gauge 5 is connected to the internal square column 7 via a connecting component, and the force transmission disk 9 is connected to the multidimensional force gauge 5; the limiting block 10... Position block 10 is set on force transmission disk 9 and can contact the end edge of hydrodynamic shell 4 of suspended tunnel model, restricting the relative movement of hydrodynamic shell 4 of suspended tunnel model with force transmission disk 9 along its axial direction; the connecting components include: force gauge support 6 and connecting clamp 8; the connecting clamp 8 is connected to the internal square column 7, the force gauge support 6 is connected to the connecting clamp 8, and the multidimensional force gauge 5 is connected to the force gauge support 6; the multidimensional force gauge 5, the force gauge support 6 and the connecting clamp 8 are located inside the hydrodynamic shell 4 of suspended tunnel model; the hydrodynamic force on the hydrodynamic shell 4 of suspended tunnel model during the experiment can be transmitted to the multidimensional force gauge 5 through force transmission disk 9.

[0060] The connecting clamp 8 is bolted to the internal square column 7; the force gauge support 6 is bolted to the connecting clamp 8; the multidimensional force gauge 5 is bolted to the force gauge support 6; and the force transmission disk 9 is bolted to the two multidimensional force gauges 5.

[0061] The hydrodynamic shell 4 of the suspended tunnel model is a cylindrical tube. The inner diameter of the hydrodynamic shell 4 is the same as the outer diameter of the force transmission disk 9, which is located at the port of the hydrodynamic shell 4. The diameters of the hydrodynamic shell 4 of the two cylindrical models are the same. The length of the hydrodynamic shell 4 is equal to the vertical distance between the upper surfaces of the two force transmission disks 9 located at its two ends. The upper surface of the force transmission disk 9 is the surface connected to the baffle plate 11. The hydrodynamic shell 4 is in close contact with the force transmission disk 9.

[0062] One baffle 11 is connected to the force transmission disk 9 at one end of the two internal square pillars 7, and the other baffle 11 is connected to the force transmission disk 9 at the other end of the two internal square pillars 7; the downstream actuation system 2 is connected to one of the two baffles 11. The baffle 11 is connected to the downstream actuation system 2 via a guide rail connector 12.

[0063] The downstream actuation system 2 includes a downstream actuation servo motor 13, a downstream motion module 14, a downstream truss 32, and a downstream slider 33. The downstream actuation servo motor 13 and the downstream motion module 14 are mounted on the downstream truss 32. The downstream actuation servo motor 13 is driven by the downstream motion module 14 via a first reducer and a first rotating shaft. The downstream slider 33 is slidably mounted on the downstream truss 32 and connected to the downstream motion module 14. The downstream motion module 14 can drive the downstream slider 33 to move on the downstream truss 32. The downstream slider 33 is connected to the track connector 12 via a downstream connector 15. The downstream actuation servo motor 13 receives motion commands from the force feedback control system 20 in real time, driving the rigid segment model 1 of the suspended tunnel to the commanded downstream position.

[0064] The downstream motion module 14 includes: a first outer shell, a first conveyor wheel, and a first annular conveyor chain; the first outer shell is mounted on the downstream truss 32; there are two first conveyor wheels, which are respectively mounted at both ends of the first outer shell, and the first annular conveyor chain is wrapped around the two first conveyor wheels; a first reducer is connected to one of the two first conveyor wheels through a first rotating shaft and can drive the first conveyor wheel to rotate; the first conveyor wheel can drive the first annular conveyor chain to rotate; a first conveying groove is provided on the first outer shell along its length direction, and a connecting structure on the downstream slider 33 passes through the first conveying groove and connects to the first annular conveyor chain; the first conveying groove allows the downstream slider 33 to move on the first outer shell.

[0065] The transverse flow actuation system 3 includes a transverse flow actuation servo motor 17, a transverse flow motion module 18, a transverse flow truss 19, and a transverse flow slider 34. The transverse flow actuation servo motor 17 and the transverse flow motion module 18 are mounted on the transverse flow truss 19. The transverse flow actuation servo motor 17 is driven by the transverse flow motion module 18 via a second reducer and a second rotating shaft. The transverse flow slider 34 is slidably mounted on the transverse flow truss 19 and connected to the transverse flow motion module 18. The transverse flow motion module 18 can drive the transverse flow slider 34 to move on the transverse flow truss 19. The transverse flow slider 34 is connected to the longitudinal flow truss 32 via a longitudinal flow diagonal brace 16. The transverse flow actuation servo motor 17 receives motion commands sent by the force feedback control system 20 in real time, driving the suspended tunnel rigid segment model 1 to reach the commanded transverse flow position.

[0066] The transverse motion module 18 includes: a second outer shell, a second conveyor wheel, and a second annular conveyor chain; the second outer shell is mounted on the transverse truss 19; there are two second conveyor wheels, which are respectively located at both ends of the second outer shell, and the second annular conveyor chain is wrapped around the two second conveyor wheels; a second reducer is connected to one of the two second conveyor wheels through a second rotating shaft and can drive the second conveyor wheel to rotate; the second conveyor wheel can drive the second annular conveyor chain to rotate; a second conveying groove is provided on the second outer shell along its length direction, and a connecting structure on the transverse slider 34 passes through the second conveying groove and connects to the second annular conveyor chain; the second conveying groove allows the transverse slider 34 to move on the second outer shell.

[0067] The force feedback control system 20 includes: a physical signal acquisition system 21, a host computer control system 24, and a motor control system 27; the physical signal acquisition system 21 includes: a multi-dimensional force gauge module 22 and an encoder 23; the multi-dimensional force gauge module 22 can measure the hydrodynamic load on the rigid segment model 1 of the suspended tunnel in real time; the encoder 23 can measure the motion displacement of the downstream actuation system 2 and the cross-flow actuation system 3 in real time; the host computer control system 24 includes a numerical algorithm module 25 and a motion control card 26; the numerical algorithm module 25 can simulate and calculate the two-degree-of-freedom spring-mass-damped vibration system. The numerical algorithm module 25 calculates the displacement response of the rigid segment model 1 of the suspended tunnel in the downstream and cross-flow directions in real time using the hydrodynamic load measured by the multi-dimensional force gauge module 22. The motion control card 26 converts the displacement response calculated by the numerical algorithm module 25 into motion command information and sends it to the host computer control system 24. The motor control system 27 includes a downstream motor driver 28 and a cross-flow motor driver 29. The downstream motor driver 28 and the cross-flow motor driver 29 receive the motion command information sent by the host computer control system 24 and drive the downstream actuation system 2 and the cross-flow actuation system 3. The multi-dimensional force gauge module 22 consists of multi-dimensional force gauges 5 on two cylindrical models.

[0068] The force feedback control system 20 also includes: an interactive interface system 30 and an EtherCAT bus 31; the interactive interface system 30 is used by the user to input the vibration parameters of the rigid segment model 1 of the suspended tunnel in the transverse and longitudinal directions into the experimental device, and the vibration parameters include virtual mass, virtual stiffness, and virtual damping; the interactive interface system 30 can display the real-time motion of the rigid segment model 1 of the suspended tunnel to the user; the EtherCAT bus 31 is used to connect the host computer control system 24, the physical signal acquisition system 21, the motor control system 27 and the interactive interface system 30, and realize communication and command transmission between the various systems.

[0069] The specific process of conducting the experiment using a suspended tunnel vortex-induced vibration experimental device based on sensing and feedback control is as follows:

[0070] The experimental device was installed on a trailer in a marine engineering pool, so that the rigid segment model 1 of the suspended tunnel was completely submerged in the pool. The pool trailer was started and moved at a constant speed. A uniform flow was generated relative to the rigid segment model 1 of the suspended tunnel by the pool trailer moving at a constant speed.

[0071] The hydrodynamic load of the rigid segment model 1 of the suspended tunnel in the uniform flow is measured by the multi-dimensional force gauge module 22, and the real-time position of the rigid segment model 1 of the suspended tunnel in the downstream and cross-flow directions is measured by the encoder 23. The hydrodynamic load data and real-time position data are transmitted to the host computer control system 24 through the physical signal acquisition system 21.

[0072] The host computer control system 24 uses a two-degree-of-freedom spring-mass-damped vibration system. Through the numerical algorithm module 25, it solves the motion control equations of the rigid segment model 1 of the suspended tunnel in real time, calculates the target position that the rigid segment model 1 of the suspended tunnel will reach in the next moment under the current force, and transmits the target position data to the motion control card 26. The motion control card 26 responds to the motion command according to the target position data and transmits the response motion command to the downstream motor driver 28 and the cross-flow motor driver 29. The downstream motor driver 28 and the cross-flow motor driver 29 drive the downstream actuation system 2 and the cross-flow actuation system 3 according to the motion command. The downstream actuation system 2 and the cross-flow actuation system 3 drive the rigid segment model 1 of the suspended tunnel to reach the target position.

[0073] Example 2

[0074] Those skilled in the art can understand this embodiment as a more specific description of Embodiment 1.

[0075] like Figures 1 to 8 As shown, this embodiment provides an experimental device for vortex-induced vibration of a high Reynolds number suspended tunnel based on sensing and feedback control, which relates to the technical fields of marine fisheries, marine engineering, and suspended tunnels.

[0076] The high Reynolds number suspended tunnel rigid segment vortex-induced vibration experimental device of this embodiment includes a suspended tunnel rigid segment model, a downstream actuation system, a cross-flow actuation system, and a force feedback control system. The suspended tunnel rigid segment model is connected to the downstream actuation system, the downstream actuation system is connected to the cross-flow actuation system, and the force feedback control system controls the downstream actuation system and the cross-flow actuation system through a communication line.

[0077] The rigid segment of the suspended tunnel consists of two sets of models. Each set of models consists of a hydrodynamic shell of the suspended tunnel model, a multi-dimensional force gauge, a force gauge support, an internal square column, a connecting clamp, a force transmission disk, a limiting block, a flow baffle, and a guide rail connector. The connecting clamp is bolted to the internal square column. There are two force gauge supports, which are bolted to the connecting clamp. There are two multidimensional force gauges, which are bolted to the force gauge supports. There are two force transmission disks, which are bolted to the two multidimensional force gauges. The hydrodynamic shell of the suspended tunnel model is manufactured according to a similar pattern but scaled down from the prototype. It is fitted onto the outside of the internal square column in a concentric manner. Its inner diameter is the same as the outer diameter of the force transmission disk, and its length is equal to the vertical installation distance between the upper surfaces of the two force transmission disks. This allows the hydrodynamic shell of the suspended tunnel model to fit tightly against the force transmission disk during installation, thereby transmitting the hydrodynamic force experienced by the hydrodynamic shell of the suspended tunnel model during the experiment to the multidimensional force gauges through the force transmission disk. The limiting block is bolted to the force transmission disk and can contact the edges at both ends of the hydrodynamic shell of the suspended tunnel model, thereby restricting the axial movement of the hydrodynamic shell of the suspended tunnel model. The baffles are installed at the top and bottom of the rigid segment model of the suspended tunnel, which can effectively eliminate the influence of the free liquid surface.

[0078] The downstream actuation system consists of a downstream actuation servo motor and a downstream motion module. The downstream motion module is installed on the cross-flow actuation system; the downstream actuation servo motor is connected to the downstream motion module through a reducer, and the downstream actuation servo motor receives motion commands sent by the force feedback control system in real time, driving the rigid segment model of the suspended tunnel to reach the commanded position in the downstream direction.

[0079] The transverse flow actuation system consists of a transverse flow actuation servo motor, a transverse flow motion module, and a truss. The transverse flow motion module is mounted on the truss, and the transverse flow actuation servo motor is connected to the transverse flow motion module through a reducer. The transverse flow actuation servo motor receives motion commands sent by the force feedback control system in real time, driving the rigid segment model of the suspended tunnel to reach the commanded transverse flow position.

[0080] The force feedback control system includes the following subsystems: a physical signal acquisition system, a host computer control system, a motor control system, an interactive interface, and an EtherCAT bus. The physical signal acquisition system includes a multi-dimensional force gauge and an encoder. The multi-dimensional force gauge can measure the hydrodynamic load on the rigid segment model of the suspended tunnel during the experiment in real time. The encoder can measure the actuation displacement of the servo motors in the downstream and cross-flow actuation systems in real time. The host computer control system includes a numerical algorithm capable of simulating and calculating a two-degree-of-freedom "spring-mass-damped" vibration system and a motion control card. The numerical algorithm uses the hydrodynamic data measured by the multi-dimensional force gauge to solve for the displacement response of the rigid segment model of the suspended tunnel in the downstream and cross-flow directions in real time. The motion control card can convert the displacement response calculated by the numerical algorithm into motion command information and send it to the motor control system via the EtherCAT bus. The motor control system includes a downstream motor driver and a cross-flow motor driver. The downstream and cross-flow motor drivers receive displacement commands sent by the host computer control system and drive the servo motors in the downstream and cross-flow actuation systems. The interactive interface is used by the user to input virtual mass, virtual stiffness, virtual damping, and other vibration parameters of the suspended tunnel model in the cross-flow and downstream directions. The interface can also display the real-time motion of the suspended tunnel model. The EtherCAT bus connects the host computer control system, physical signal acquisition system, motor control system, and interactive interface, enabling communication and command transmission between these modules.

[0081] The experimental system based on the force feedback principle is implemented as follows: The experimental device is installed on a trailer in a marine engineering pool, ensuring the suspended tunnel model is completely submerged. The trailer is moved at a constant speed to create a uniform flow relative to the suspended tunnel model. A multi-dimensional force gauge in the physical signal acquisition system measures the hydrodynamic forces of the rigid segmented suspended tunnel model within the uniform flow. An encoder measures the real-time position of the suspended tunnel model in the downstream and transverse directions, transmitting the data to the host computer control system. The host computer control system uses a numerical algorithm for a two-degree-of-freedom "spring-mass-damped" vibration system to solve the motion control equations in real time, enabling operation within 1- Within 2ms, the position of the suspended tunnel model at the next moment, which is reached by the force at the current moment, is calculated and transmitted to the motion control card. The motion control card transmits the response motion command to the upstream and downstream motor drivers in the motor motion control system. The upstream and downstream motor drivers drive the servo motors in the upstream and downstream actuation systems through the communication line. The servo motors drive the suspended tunnel model connected to them to the command position through the slider on the track, thus realizing a complete force feedback closed loop process. Finally, the two-degree-of-freedom vortex-induced vibration motion response of the suspended tunnel experimental model in the downstream and downstream directions under high Reynolds number is simulated.

[0082] To address the current lack of clarity regarding the vortex-induced vibration response mechanism of suspended tunnels, and the limitations of traditional experimental methods such as low Reynolds numbers in simulating the flow field and difficulties in accurately simulating and traversing physical parameters, this embodiment proposes a rigid segmented vortex-induced vibration simulation experimental device for high Reynolds number suspended tunnels based on sensing and feedback control. This device enables the realization of two-degree-of-freedom coupled motions in the transverse and longitudinal directions of vortex-induced vibration of suspended tunnels under high Reynolds numbers. Simultaneously, it can accurately simulate the stiffness characteristics of the suspended tunnel mooring system, thus satisfying the requirements of an efficient experimental scheme for accurate control and rapid traversal of vibration system parameters.

[0083] Example 3

[0084] Those skilled in the art can understand this embodiment as a more specific description of Embodiment 1 and Embodiment 2.

[0085] This embodiment provides an experimental device for vortex-induced vibration of a high Reynolds number suspended tunnel based on sensing and feedback control. The device includes a rigid segmented model of the suspended tunnel, a downstream actuation system, a cross-flow actuation system, and a force feedback control system. The rigid segmented model of the suspended tunnel is connected to the downstream actuation system, which is also connected to the cross-flow actuation system. The force feedback control system controls the downstream and cross-flow actuation systems via communication lines. A high flow field Reynolds number refers to a flow field Reynolds number reaching the critical Reynolds number (2 × 10⁻⁶). 5 The range above 10.

[0086] The rigid segmented model 1 of the suspended tunnel consists of two sets of models. Each set of models consists of the hydrodynamic shell of the suspended tunnel model 4, the multi-dimensional force gauge 5, the force gauge support 6, the internal square column 7, the connecting clamp 8, the force transmission disk 9, the limiting block 10, the baffle 11, and the guide rail connector 12. The connecting clamp 8 is bolted to the internal square column 7. There are two force gauge support members 6, which are bolted to the connecting clamp 8. There are two multi-dimensional force gauges 5, which are bolted to the force gauge support members 6 respectively. There are two force transmission disks 9, which are bolted to the two multi-dimensional force gauges 5 respectively. The hydrodynamic shell 4 of the suspended tunnel model is made according to the prototype with a certain scale based on similar rules. It is sleeved on the outside of the internal square column 7 in a concentric manner. Its inner diameter is the same as the outer diameter of the force transmission disk 9. Its length is equal to the vertical installation distance between the upper surfaces of the two force transmission disks 9. This allows the hydrodynamic shell 4 of the suspended tunnel model to be in close contact with the force transmission disk 9 during installation. This allows the hydrodynamic force experienced by the hydrodynamic shell 4 of the suspended tunnel model to be transmitted to the multi-dimensional force gauges 5 through the force transmission disk 9. The limiting block 10 is bolted to the force transmission disk 9 and can contact the edges at both ends of the hydrodynamic shell 4 of the suspended tunnel model, thereby restricting the axial movement of the hydrodynamic shell 4 of the suspended tunnel model. Baffles 11 are installed at the upper and lower parts of the rigid section 1 of the suspended tunnel, respectively, which can effectively eliminate the influence of the free liquid surface. The guide rail connector 12 is connected to the flow-direction connector 15 in the flow-direction actuation system 2.

[0087] The downstream actuation system 2 consists of a downstream actuation servo motor 13 and a downstream motion module 14. The downstream motion module 14 is installed on the cross-flow actuation system 3. The downstream actuation servo motor 13 is connected to the downstream motion module 14 through a reducer. The downstream actuation servo motor 13 receives motion commands sent by the force feedback control system 20 in real time and drives the rigid segment model 1 of the suspended tunnel to the commanded position in the downstream direction.

[0088] The transverse flow actuation system 3 consists of a transverse flow actuation servo motor 17, a transverse flow motion module 18, and a truss 19. The transverse flow motion module 18 is mounted on the truss 19, and the transverse flow actuation servo motor 17 is connected to the transverse flow motion module 18 through a reducer. The transverse flow actuation servo motor 17 receives motion commands sent by the force feedback control system 20 in real time and drives the rigid segment model 1 of the suspended tunnel to reach the commanded transverse flow position.

[0089] The downstream actuation system 2 is connected to the transverse motion module 18 in the transverse actuation system 3 via the downstream diagonal brace 16.

[0090] The force feedback control system 20 includes the following subsystems: a physical signal acquisition system 21, a host computer control system 24, a motor control system 27, an interactive interface system 30, and an EtherCAT bus 31. The physical signal acquisition system 21 includes a multi-dimensional force gauge module 22 and an encoder 23. The multi-dimensional force gauge module 22 can measure the hydrodynamic load on the rigid segment model 1 of the suspended tunnel during the experiment in real time. The encoder 23 can measure the actuation displacement of the servo motors in the downstream actuation system 2 and the cross-flow actuation system 3 in real time. The host computer control system 24 includes a numerical algorithm module 25 and a motion control card 26 capable of simulating and calculating a two-degree-of-freedom "spring-mass-damped" vibration system. The numerical algorithm module 25 uses the hydrodynamic data measured by the multi-dimensional force gauge module 22 to solve the displacement response of the rigid segment model 1 of the suspended tunnel in the downstream and cross-flow directions in real time. The motion control card 26 can convert the displacement response calculated by the numerical algorithm module 25 into motion command information and send it to the motor control system 27 via the EtherCAT bus 31. The motor control system 27 includes a downstream motor driver 28 and a cross-flow motor driver 29. The downstream and cross-flow motor drivers 28 and 29 receive displacement commands from the host computer control system 24 to drive the servo motors in the downstream actuation system 2 and the cross-flow actuation system 3. The interactive interface system 30 is used by the user to input the virtual mass, virtual stiffness, virtual damping, and other vibration parameters of the rigid segment model 1 of the suspended tunnel in the downstream and cross-flow directions. The interactive interface system 30 can display the real-time motion of the rigid segment model 1 of the suspended tunnel to the user. The EtherCAT bus 31 is used to connect the host computer control system 24, the physical signal acquisition system 21, the motor control system 27, and the interactive interface system 30, and to realize communication and command transmission between the various modules.

[0091] The specific working principle of this embodiment is as follows:

[0092] Before the experiment begins, physical quantities such as mass, damping, and stiffness of the rigid segment model 1 of the suspended tunnel are input into the host computer control system 24 through the interactive interface 30. The entire device is driven by a trailer in the marine engineering pool to move forward at a certain speed in the pool to create a constant flow field, thereby simulating the vortex-induced vibration phenomenon of the rigid segment model 1 of the suspended tunnel in a uniform flow field.

[0093] During the experiment, the multi-dimensional force gauge 5 inside the rigid segment model 1 of the suspended tunnel can measure the hydrodynamic forces acting on the hydrodynamic shell 4 of the suspended tunnel model along the downstream and transverse directions in a uniform flow field. The encoder 23 measures the real-time position and velocity of the rigid segment model 1 of the suspended tunnel. The physical signal acquisition system 21 acquires the measurement data of the multi-dimensional force gauge 5 and the encoder 23 in real time at a frequency of 1000Hz. After real-time filtering, the corresponding physical signals are transmitted to the host computer control system 24. The host computer control system 24 uses the numerical algorithm module 25 based on the data transmitted by the physical signal acquisition system. The motion control equations of the rigid segment model 1 of the suspended tunnel are solved in real time, calculating the position and velocity that the rigid segment model 1 should reach after 2ms. The results are transmitted to the downstream motor driver 28 and the cross-flow motor driver 29 in the motor control system 27 via the motion control card 26. Then, the downstream motor driver 28 and the cross-flow motor driver 29 can control the servo motors in the downstream actuation system 2 and the cross-flow actuation system 3 to execute actuation commands, thereby driving the rigid segment model 1 of the suspended tunnel to the designated position through the downstream motion module 14 and the cross-flow motion module 18. At this point, the experimental device of the present invention has completed one working cycle. Afterwards, the multi-dimensional force gauge 5 and the encoder 23 continue to measure the hydrodynamic load, displacement response and other physical quantities of the experimental model at each moment, repeating the above steps to form a complete closed-loop force feedback system, and finally realizing the simulation of two-degree-of-freedom vortex-induced vibration of the suspended tunnel under a uniform flow field.

[0094] This invention realizes the two-degree-of-freedom coupled motion of transverse and longitudinal directions of vortex-induced vibration of suspended tunnels under high Reynolds numbers, and can also accurately simulate the stiffness characteristics of suspended tunnel mooring systems.

[0095] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0096] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An experimental device for vortex-induced vibration of a suspended tunnel based on sensing and feedback control, characterized in that, include: The rigid segment model of the suspended tunnel (1), the downstream actuation system (2), the cross-flow actuation system (3), and the force feedback control system (20); The rigid segment model (1) of the suspended tunnel is connected to the downstream actuation system (2), the downstream actuation system (2) is connected to the cross-flow actuation system (3), and the force feedback control system (20) controls the downstream actuation system (2) and the cross-flow actuation system (3). The rigid segmented model (1) of the suspended tunnel includes: two cylindrical body models and two baffles (11), with the two cylindrical body models arranged side by side at intervals; the cylindrical body model includes: a hydrodynamic shell (4) of the suspended tunnel model, an internal square column (7) and two force measurement modules; the hydrodynamic shell (4) of the suspended tunnel model is sleeved on the outside of the internal square column (7) in a concentric manner; the two force measurement modules are respectively arranged at both ends of the internal square column (7) and located at both ends of the hydrodynamic shell (4) of the suspended tunnel model; The force measurement module includes a multidimensional force gauge (5), a force transmission disk (9), and a limiting block (10); the multidimensional force gauge (5) is connected to the internal square column (7) through a connecting component, and the force transmission disk (9) is connected to the multidimensional force gauge (5); the limiting block (10) is disposed on the force transmission disk (9) and can contact the end edge of the hydrodynamic shell (4) of the suspended tunnel model, restricting the hydrodynamic shell (4) of the suspended tunnel model (4) from moving relative to the force transmission disk (9) along its axial direction; One baffle (11) is connected to the force transmission disk (9) at one end of the two internal square pillars (7), and the other baffle (11) is connected to the force transmission disk (9) at the other end of the two internal square pillars (7); the downstream actuation system (2) is connected to one of the two baffles (11); The connecting assembly includes: a force gauge support (6) and a connecting clamp (8); The connecting clamp (8) is connected to the internal square column (7), the force gauge support (6) is connected to the connecting clamp (8), and the multidimensional force gauge (5) is connected to the force gauge support (6). The multidimensional force gauge (5), the force gauge support (6), and the connecting clamp (8) are located inside the hydrodynamic shell (4) of the suspended tunnel model; The hydrodynamic force experienced by the hydrodynamic shell (4) of the suspended tunnel model during the experiment can be transmitted to the multidimensional force gauge (5) through the force transmission disk (9); The length of the hydrodynamic shell (4) of the suspended tunnel model is equal to the vertical distance between the upper surfaces of the two force transmission disks (9) located at its two ends; The upper surface of the force transmission disk (9) is the surface connected to the baffle plate (11); The hydrodynamic shell (4) of the suspended tunnel model is in close contact with the force transmission disk (9). The force feedback control system (20) includes: a physical signal acquisition system (21), a host computer control system (24), and a motor control system (27). The physical signal acquisition system (21) includes a multi-dimensional force gauge module (22) and an encoder (23); the multi-dimensional force gauge module (22) can measure the hydrodynamic load on the rigid segment model (1) of the suspended tunnel in real time; the encoder (23) can measure the motion displacement of the downstream actuation system (2) and the cross-flow actuation system (3) in real time. The host computer control system (24) includes a numerical algorithm module (25) and a motion control card (26). The numerical algorithm module (25) can simulate and calculate a two-degree-of-freedom spring-mass-damped vibration system. The numerical algorithm module (25) uses the hydrodynamic load measured by the multi-dimensional force gauge module (22) to solve the displacement response of the rigid segment model (1) of the suspended tunnel in the downstream and cross-flow directions in real time. The motion control card (26) can convert the displacement response calculated by the numerical algorithm module (25) into motion command information and send it to the host computer control system (24). The motor control system (27) includes a forward-flow motor driver (28) and a transverse-flow motor driver (29); the forward-flow motor driver (28) and the transverse-flow motor driver (29) receive motion command information sent by the host computer control system (24) and drive the forward-flow actuation system (2) and the transverse-flow actuation system (3). The force feedback control system (20) further includes: an interactive interface system (30) and an EtherCAT bus (31). The interactive interface system (30) is used by the user to input the vibration parameters of the rigid segment model (1) of the suspended tunnel in the transverse and longitudinal directions into the experimental device. The vibration parameters include virtual mass, virtual stiffness, and virtual damping. The interactive interface system (30) can display the real-time motion of the rigid segment model (1) of the suspended tunnel to the user. The EtherCAT bus (31) is used to connect the host computer control system (24), the physical signal acquisition system (21), the motor control system (27), and the interactive interface system (30), and to realize communication and command transmission between the various systems.

2. The experimental device for vortex-induced vibration of a suspended tunnel based on sensing and feedback control according to claim 1, characterized in that, The hydrodynamic shell (4) of the suspended tunnel model is a cylindrical tube; The inner diameter of the hydrodynamic shell (4) of the suspended tunnel model is the same as the outer diameter of the force transmission disk (9), and the force transmission disk (9) is located at the port of the hydrodynamic shell (4) of the suspended tunnel model.

3. The experimental device for vortex-induced vibration of a suspended tunnel based on sensing and feedback control according to claim 2, characterized in that, The two cylindrical models have the same diameter of hydrodynamic shell (4) for their suspended tunnel models.

4. The experimental device for vortex-induced vibration of a suspended tunnel based on sensing and feedback control according to claim 1, characterized in that, The baffle (11) is connected to the downstream actuation system (2) via a guide rail connector (12).

5. The experimental device for vortex-induced vibration of a suspended tunnel based on sensing and feedback control according to claim 1, characterized in that, The connecting clamp (8) is connected to the internal square column (7) by bolts; The force gauge support (6) is connected to the connecting clamp (8) by bolts; The multidimensional force gauge (5) and the force gauge support (6) are connected by bolts; The force transmission disk (9) is connected to the two multidimensional force gauges (5) by bolts.

6. The experimental device for vortex-induced vibration of a suspended tunnel based on sensing and feedback control according to claim 1, characterized in that, The specific process of conducting the experiment using a suspended tunnel vortex-induced vibration experimental device based on sensing and feedback control is as follows: The experimental device was installed on a trailer in a marine engineering pool, so that the rigid segment model (1) of the suspended tunnel was completely submerged in the pool. The pool trailer was started and moved at a constant speed. A uniform flow was generated relative to the rigid segment model (1) of the suspended tunnel by the uniformly moving pool trailer. The hydrodynamic load of the rigid segment model (1) of the suspended tunnel in uniform flow is measured by the multi-dimensional force gauge module (22), and the real-time position of the rigid segment model (1) of the suspended tunnel in the downstream and cross-flow directions is measured by the encoder (23). The hydrodynamic load data and real-time position data are transmitted to the host computer control system (24) through the physical signal acquisition system (21). The host computer control system (24) uses a two-degree-of-freedom spring-mass-damped vibration system. The numerical algorithm module (25) solves the motion control equation of the rigid segment model (1) of the suspended tunnel in real time, calculates the target position that the rigid segment model (1) of the suspended tunnel will reach in the next moment under the force at the current moment, and transmits the target position data to the motion control card (26). The motion control card (26) responds to the motion command according to the target position data and transmits the response motion command to the downstream motor driver (28) and the cross-flow motor driver (29). The downstream motor driver (28) and the cross-flow motor driver (29) drive the downstream actuation system (2) and the cross-flow actuation system (3) according to the motion command. The downstream actuation system (2) and the cross-flow actuation system (3) drive the rigid segment model (1) of the suspended tunnel to the target position.

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