An acoustic long-term autonomous underwater vehicle multi-stage linkage flexible suspension design method and acoustic long-term autonomous underwater vehicle

Abstract

The application discloses a kind of acoustic submersible multi-stage linkage flexible suspension design method and acoustic submersible, it is related to marine observation and underwater acoustic technical field, comprising the following steps: planning the layout and relative position relationship of vector and scalar sensing unit in acoustic submersible system;For vector and scalar sensing unit, the elastic body connection architecture of multi-stage linkage flexible suspension system is designed, and the vertical and horizontal elastic body connection mode is planned respectively.The application sets up vertical and horizontal elastic body connection to vector channel and scalar channel respectively by multi-stage linkage flexible suspension architecture, and further suspends sensing unit frame in the internal frame of submersible main body, forms multi-stage vibration isolation system, can effectively absorb and attenuate the structural vibration energy transmitted by the swing of submersible main body caused by current impact, reduces structural noise from the source, significantly improves the purity and detection capability of acoustic signal acquisition.

Description

Technical Field

[0001] This invention relates to the field of marine observation and underwater acoustics technology, specifically to a multi-stage linkage flexible suspension design method for acoustic moorings and an acoustic mooring. Background Technology

[0002] Acoustic moorings are underwater devices that collect acoustic signals to conduct marine observations. They are widely used in marine scientific research. However, with the deepening of marine scientific research and the advancement of resource exploration technology, traditional acoustic measurement equipment can hardly meet the requirements for high precision, high sensitivity, and reliability.

[0003] In traditional acoustic mooring systems, the acoustic channel, as the core sensing unit, directly determines data quality through its suspension and installation methods. Traditional suspension methods often employ rigid supports and simple springs or soft ropes for traction. Under the impact of water currents and the swaying of the mooring body, the following problems exist: First, they cause significant structural vibrations in the acoustic channel, introducing structural noise and severely affecting the detection capabilities for data acquisition. Second, most traditional suspension methods have limited control over the orientation and tilt angle of the acoustic channel, especially in complex ocean current environments, where the acoustic channel may flip or tilt, reducing the quality of the acquired data. Therefore, a multi-stage linkage flexible suspension design method for acoustic moorings is proposed to solve the aforementioned problems. Summary of the Invention

[0004] To address the problems existing in the prior art, the purpose of this invention is to provide an acoustic underwater buoy multi-level linkage flexible suspension design method and an acoustic underwater buoy. This method involves setting vertical and horizontal elastic body connections for the vector channel and scalar channel respectively, and further suspending the sensing unit frame inside the main frame of the underwater buoy to form a multi-level vibration isolation system. This system can effectively absorb and attenuate the structural vibration energy transmitted by the swaying of the underwater buoy body caused by ocean current impact, reduce structural noise from the source, and significantly improve the purity and detection capability of acoustic signal acquisition.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: a multi-stage linkage flexible suspension design method for acoustic underwater moorings, comprising the following steps: Step 1: Based on the attitude stability requirements of the mooring in complex ocean current environments, plan the layout and relative position relationship of the vector and scalar sensing units in the acoustic mooring system. The vector and scalar sensing units include a vector channel and a scalar channel set concentrically. The vector channel coincides with the central axis of the mooring body, and the scalar channels are distributed at equal intervals on the same horizontal plane with the vector channel as the center. Step 2: For vector and scalar sensing units, design the elastic body connection architecture of the multi-level linkage flexible suspension system, and plan different forms of elastic body connection methods to ensure that the number and layout of elastic bodies in each direction meet the constraint and vibration reduction requirements, and isolate multi-directional displacement constraints and structural vibration. Step 3: Using the component characteristics of the acoustic mooring as input, construct a parametric model for the design of the elastomer length, providing accurate mechanical and geometric boundary conditions for the calculation of the elastomer length; Step 4: Based on the dynamic response requirements of the sensing unit, select the elastic coefficients of the elastic body in each direction to ensure that the elastic body maintains a linear relationship between elastic force and length under the action of preload. Step 5: Establish a spatial coordinate system and calculate the specific length of each level of flexible suspension elastomer to accurately match the elastomer length with the installation point coordinates and improve the system assembly accuracy. Step 6: Integrate the multi-stage linkage flexible suspension system into the main frame of the acoustic mooring, and conduct overall debugging to ensure that the design of the multi-stage linkage flexible suspension system meets the design requirements and operates stably, thus ensuring long-term reliable observation of the acoustic mooring in complex marine environments.

[0006] The above-mentioned acoustic underwater mooring multi-stage linkage flexible suspension design method, specifically step 1 includes: Step 1-1: Set up the vector channel frame to install the vector channel, and the scalar channel frame to install the scalar channel. Set the initial installation reference plane for the vector channel frame and the scalar channel frame. Set the vertical distance and horizontal offset range between the vector channel and the scalar channel. Step 1-2: Based on the determined layout relationship between the vector channel and the scalar channel, further set the mounting reference planes of the vector channel frame and the scalar channel frame so that the geometric centers of the vector channel frame and the scalar channel frame coincide in the initial state. Steps 1-3: Based on the acoustic observation coverage of the vector channel and scalar channel, adjust the radius R3 of the scalar channel distribution circle and the height H of the scalar channel frame; Steps 1-4: Combining the radius R1 of the vector channel and the radius R2 of the vector channel frame, and taking into account the space margin required for the installation of the elastomer and the displacement range of the vector channel under dynamic conditions, determine the gap range between the vector channel and the vector channel frame.

[0007] In the aforementioned acoustic underwater mooring multi-stage linkage flexible suspension design method, step 2 includes: Step 2-1: Design the elastic body connection method between the vector channel and the vector channel frame. In the vertical direction, use one vector channel vertical elastic body to connect the top of the vector channel to the top of the vector channel frame. In the oblique upward direction, use multiple vector channels oblique upward elastic bodies symmetrically arranged around the vector channel on the same horizontal plane. Step 2-2: Design the elastic body connection between the vector channel frame and the scalar channel frame. The top of the vector channel frame is connected to the crossbar of the scalar channel frame through a vector channel frame vertically to the elastic body, and the middle of the vector channel frame is connected to the scalar channel frame horizontally to the elastic body through multiple vector channel frames. Steps 2-3: Design the elastic body connection between the scalar channel and the scalar channel frame. The top and bottom of each scalar channel are connected to the scalar channel frame vertically to the elastic body through the scalar channel, and the left and right sides of the scalar channel are connected to the scalar channel frame horizontally to the elastic body through the scalar channel, forming a flexible constraint structure with upward and downward and left and right tension. Steps 2-4: Based on the determined connection method between the scalar channel and the scalar channel frame, further design the elastic body connection architecture between the scalar channel frame and the underwater glider main frame. Multiple upper elastic bodies of the scalar channel frame are arranged at the top of the scalar channel frame to connect with the underwater glider main frame, and multiple lower elastic bodies of the scalar channel frame are arranged at the corresponding positions at the bottom of the scalar channel frame to connect with the underwater glider main frame.

[0008] In the aforementioned acoustic underwater mooring multi-stage linkage flexible suspension design method, step 2 further includes: Steps 2-5: Set the installation angles of the elastic bodies on the upper and lower parts of the scalar channel frame so that they are radially distributed when projected onto the horizontal plane and form angles β1 and β2 with the central axis of the scalar channel frame in the vertical plane, so as to enhance the constraint capability of the scalar channel frame in multiple directions. Steps 2-6: Based on the installation positions of the upward-sloping elastic body and the horizontal elastic body of the vector channel frame, set the included angles α1 and α2 between the vector channel frame and the scalar channel frame, so that the vector channel frame and the scalar channel frame form a spatially misaligned layout under the connection of the elastic bodies.

[0009] In the aforementioned acoustic underwater mooring multi-stage linkage flexible suspension design method, step 3 includes: Step 3-1: Collect the weight G1 and buoyancy F1 of the vector channel, the weight G2 and buoyancy F2 of the vector channel frame, the weight G3 and buoyancy F3 of the scalar channel, and the weight G4 and buoyancy F4 of the scalar channel frame as the mechanical basis parameters for calculating the length of the elastic body. Step 3-2: Set R1, R2, R3, and H as geometric constraint parameters for calculating the length of the elastic body; Step 3-3: Based on the aforementioned mechanical fundamental parameters and geometric constraint parameters, establish a parametric model for the design of the elastomer length, determine the initial values ​​of the preload required for each stage of the elastomer, and provide boundary conditions for subsequent elastomer length calculations.

[0010] In the aforementioned acoustic underwater mooring multi-stage linkage flexible suspension design method, step 4 includes: Step 4-1: Based on the allowable displacement range of the vector channel and scalar channel in a dynamic environment, set the elastic coefficient k1 of the vector channel upward elastic body, the elastic coefficient k2 of the vector channel vertical elastic body, and the elastic coefficient k3 of the vector channel frame elastic body. The vector channel frame elastic body includes the vector channel frame upward elastic body, the vector channel frame horizontal elastic body, and the vector channel frame vertical elastic body. Step 4-2: Based on the vibration reduction requirements of the scalar channel and its frame, set the elastic coefficient of the scalar channel elastic body to k4 and the elastic coefficient of the scalar channel frame elastic body to k5, so that each level of elastic body works in the linear elastic range when there is slight deformation under the action of preload. The scalar channel elastic body includes the vertical elastic body and the horizontal elastic body of the scalar channel. The scalar channel frame elastic body includes the upper elastic body and the lower elastic body of the scalar channel frame. Step 4-3: Combine the included angles α1, α2, β1, and β2 to check the equivalent stiffness of the elastic body in each direction under combined stress.

[0011] In the aforementioned acoustic underwater mooring multi-stage linkage flexible suspension design method, step 5 includes: Step 5-1: Use the geometric center of the vector channel as the origin. Establish a three-dimensional spatial coordinate system, with the coordinates of the scalar channel center position as follows: ,in This indicates the number of scalar channels, ensuring that the scalar channels are evenly distributed on a circle centered on the vector channel, providing a precise spatial positioning reference for calculating the length of the elastic body; Step 5-2: Based on the concentric constraint condition of the vector channel and the scalar channel, establish the positional relationship equation between the center of the vector channel and the center of the distribution circle of the scalar channel, as the geometric reference for calculating the length of the elastic body; Step 5-3: Based on the coordinates of the installation points of each elastomer and the coordinates of the connection points with the sensing unit, construct the spatial vector expressions for each level of elastomer and determine the length of the elastomer between each level of suspension. Precisely design the length of the elastomer and quantitatively control the preload.

[0012] In the aforementioned acoustic underwater mooring multi-stage linkage flexible suspension design method, step 5 further includes: Step 5-4: Based on the established elastic body space vector expression, and combined with the symmetrical arrangement characteristics of the elastic bodies obliquely upward in the vector channel, establish the geometric constraint equations for the equal lengths and mutual perpendicularity of the elastic bodies obliquely upward in the vector channel. Step 5-5: Based on the installation position of the vertical elastic body of the vector channel, set the overlap requirement between it and the central axis of the vector channel, and derive the relationship between the elongation of the vertical elastic body of the vector channel in the pre-tightened state and the vertical displacement of the vector channel. Steps 5-6: Combine the included angles β1 and β2 to establish the geometric coupling relationship between the vertical displacement of each scalar channel and the elongation of the elastic body, ensuring that the vertical displacement of the scalar channels is consistent.

[0013] In the aforementioned acoustic underwater mooring multi-stage linkage flexible suspension design method, step 6 includes: Step 6-1: Pre-tighten the elastomer, install the vector channel to the vector channel frame through the vector channel vertical elastomer and the vector channel oblique upward elastomer, and connect the vector channel frame to the scalar channel frame through the vector channel frame oblique upward elastomer, the vector channel frame horizontal elastomer and the vector channel frame vertical elastomer; Step 6-2: Install the scalar channel vertically to the elastic body and horizontally to the elastic body into the scalar channel frame, so that the scalar channel maintains the same suspension attitude and initial position within the scalar channel frame; Step 6-3: Connect the scalar channel frame to the interior of the underwater buoy main frame through the upper elastic body and the lower elastic body of the scalar channel frame; Step 6-4: After completing the integration of the multi-stage linkage flexible suspension system, the center position of the vector channel and the center of the scalar channel distribution circle are calibrated under static and dynamic excitation. The preload length of each elastic body is then finely adjusted based on the measured data until the system meets the design requirements.

[0014] An acoustic mooring, the acoustic mooring being manufactured according to the acoustic mooring multi-stage linkage flexible suspension design method described in any one of the above claims, the acoustic mooring comprising a mooring frame, a vector channel, a vector channel frame, a scalar channel, a scalar channel frame, a vector channel elastomer, a scalar channel elastomer, a scalar channel frame elastomer, and a vector channel frame elastomer; The scalar channel frame includes two parallel hexagonal frames arranged vertically, with connecting rods connecting the two hexagons at their vertices. The vector channel frame is set as a hollow sphere, with a horizontal bar installed on the top of the upper hexagonal frame. A vertical elastic body connecting the hollow sphere to the vector channel frame is set on the horizontal bar. The vector channel is located on the central axis of the buoy frame, and the six scalar channels are equally spaced on the same horizontal plane with the vector channel as the center. The geometric centers of the vector channel frame and the scalar channel frame coincide in the initial state. The vector channel is connected and installed inside the vector channel frame via a vector channel elastomer. The vector channel frame is installed inside the scalar channel frame via a vector channel frame elastomer. The scalar channel is installed in the plane formed by two adjacent connecting rods via a scalar channel elastomer. The scalar channel frame is suspended inside the underwater glider frame via a scalar channel frame elastomer.

[0015] The beneficial effects of the multi-level linkage flexible suspension design method for acoustic underwater mooring and the acoustic underwater mooring itself are as follows: Through the multi-level linkage flexible suspension architecture, vertical and horizontal elastic body connections are respectively set for the vector channel and the scalar channel, and the sensing unit frame is further suspended inside the main frame of the underwater mooring to form a multi-level vibration isolation system. This system can effectively absorb and attenuate the structural vibration energy transmitted by the swing of the underwater mooring body caused by ocean current impact, reduce structural noise from the source, and significantly improve the purity and detection capability of acoustic signal acquisition.

[0016] By using the symmetrical radial arrangement of four elastic bodies in the horizontal direction of the vector channel and the central axis constraint of a single elastic body in the vertical direction, combined with the flexible connection method of the scalar channel pulling up and down, each sensing unit can maintain the preset center position and pointing accuracy under multi-directional disturbances, effectively solving the problems of overturning and tilting that are prone to occur in traditional suspension methods under strong flow environments.

[0017] Centered on the vector channel, six scalar channels are evenly distributed on the same horizontal plane to form a symmetrical acoustic receiving array. Through the optimized design of the height of the scalar channel frame and the radius of the distribution circle, it is ensured that each scalar channel maintains the same suspension attitude and vertical displacement synchronization in the dynamic environment, thereby enhancing the overall observation capability of the system. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structural design of the multi-stage linkage flexible suspension of the acoustic underwater buoy of the present invention; Figure 2 This is a schematic diagram of the process flow of the multi-stage linkage flexible suspension design method for acoustic underwater moorings of the present invention.

[0019] Explanation of reference numerals in the attached figures: Vector channel 1, Vector channel frame 2, Scalar channel 3, Scalar channel frame 4, Vertical elastic body of vector channel 5, Upward-sloping elastic body of vector channel 6, Upper elastic body of scalar channel frame 7, Upward-sloping elastic body of vector channel frame 8, Horizontal elastic body of vector channel frame 9, Lower elastic body of scalar channel frame 10, Vertical elastic body of scalar channel 11, Horizontal elastic body of scalar channel 12, Vertical elastic body of vector channel frame 13. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be described below in conjunction with specific embodiments and accompanying drawings.

[0021] Example 1 like Figure 2 As shown, a multi-stage linkage flexible suspension design method for acoustic underwater mooring includes the following steps.

[0022] Step 1: Plan the positional relationship of each component in the acoustic mooring.

[0023] The main components of an acoustic mooring system are vector and scalar sensing units. Planning the layout and relative positions of the vector and scalar sensing units in the acoustic mooring system can significantly improve the attitude stability of the mooring system in complex ocean current environments.

[0024] The vector and scalar sensing units are vector channel 1 and scalar channel 3. Typically, multiple vector channels are provided, and multiple scalar channels 3 can be provided according to actual needs. In this embodiment, six are designed as an example for illustration.

[0025] The spatial layout of vector channel 1 and scalar channel 3 is planned, wherein vector channel 1 and scalar channel 3 are concentric, with vector channel 1 located on the central axis of the mooring body. Six scalar channels 3 are designed and distributed at equal intervals on the same horizontal plane with vector channel 1 as the center. The vertical distance and horizontal offset range between vector channel 1 and scalar channel 3 are set. Vector channel frame 2 and scalar channel frame 4 are used to restrict the positions of vector channel and scalar channel respectively.

[0026] In practice, the initial mounting reference planes for the vector channel frame 2 and the scalar channel frame 4 are set, and the radius of the vector channel frame 2 is adjusted accordingly. With vector channel 1 radius The gap between them is reserved to allow for the deformation space required for the connection of the elastic body, so that the vector channel 1 and the scalar channel 3 can maintain the preset relative positional relationship in a dynamic environment.

[0027] Furthermore, based on the determined layout relationship between vector channel 1 and scalar channel 3, the installation reference surfaces of vector channel frame 2 and scalar channel frame 4 are further set so that the geometric centers of the two frames coincide in the initial state. The center alignment operation is calibrated using a three-dimensional coordinate measuring device to eliminate the influence of installation errors on subsequent elastic body connections, providing a unified geometric reference for the multi-level linkage flexible suspension system and ensuring the initial alignment accuracy of each channel.

[0028] Based on the acoustic observation coverage of vector channel 1 and scalar channel 3, the radius of the distribution circle of scalar channel 3 is adjusted. The scalar channel frame has a height of H4, which improves the accuracy of acoustic detection.

[0029] Combined with vector channel 1 radius With vector channel frame 2 radius The gap range between vector channel 1 and vector channel frame 2 is determined to reserve reasonable installation and deformation space for subsequent elastomer connection. The setting of this gap takes into account the space margin required for elastomer installation and the displacement range of vector channel 1 under dynamic environment. By controlling the gap size, it is ensured that the elastomer can effectively constrain the displacement of vector channel 1 under pre-tightened state, while avoiding mechanical interference, ensuring the long-term stable operation of the system, optimizing dynamic displacement control, preventing mechanical interference, and ensuring long-term stable operation.

[0030] Step 2: Design the elastic body connection architecture of the multi-level linkage flexible suspension system.

[0031] For vector and scalar sensing units, an elastic body connection architecture for a multi-level linkage flexible suspension system is designed. The connection methods of the elastic bodies in the vertical and horizontal directions are planned respectively, so that the number and layout of the elastic bodies in each direction meet the requirements of constraint and vibration reduction, and achieve effective isolation of multi-directional displacement constraint and structural vibration.

[0032] For vector channel 1, the elastic body connection method between it and vector channel frame 2 is designed as follows: vertically, a single vertical elastic body 5 connects the top of vector channel 1 to the top of vector channel frame 2. On the same horizontal cross-section of the vector channel, four upwardly inclined elastic bodies 6 are symmetrically arranged around vector channel 1. One end of each upwardly inclined elastic body is fixed to the horizontal constraint lug of vector channel 1, and the other end is radially connected to the corresponding anchor point on the inner wall of vector channel frame 2 at a 90-degree angle. During installation, special tooling is used to tension each elastic body to bring it into a preset pre-tightened state, forming displacement constraint and pointing correction capability for vector channel 1 in the horizontal plane, effectively suppressing horizontal displacement and ensuring pointing accuracy and center stability.

[0033] For the vector channel frame 2, the elastic body connection method between it and the scalar channel frame 4 is designed as follows: one point at the top of the vector channel frame 2 is connected to the horizontal bar installed at the top of the scalar channel frame 4 through the vertical elastic body 13 of the vector channel frame; four points at the top of the vector channel frame 2 are connected to the scalar channel frame 4 through the upward elastic body 8 of the vector channel frame; and four points at the horizontal circumference of the vector channel frame are connected to the scalar channel frame 4 through the horizontal elastic body 9 of the vector channel frame.

[0034] For scalar channel 3, an elastic body connection method is designed between it and scalar channel frame 4: the top and bottom of each scalar channel 3 are connected to scalar channel frame 4 through scalar channel vertical elastic body 11, and the left and right sides of scalar channel 3 are connected to scalar channel frame 4 through scalar channel horizontal elastic body 12, forming a flexible constraint structure with upward and downward and left and right tensions. This ensures that the six scalar channels 3 maintain the same suspension posture and initial position within scalar channel frame 4, and utilizes the flexible characteristics of the elastic body to absorb the impact and vibration in the dynamic environment, ensuring the consistency of the multi-channel posture and improving the synchronous reception capability of acoustic signals.

[0035] Furthermore, based on the determined connection method between the scalar channel 3 and the scalar channel frame 4, an elastic body connection structure between the scalar channel frame 4 and the main frame of the underwater glider is further designed. Four upper elastic bodies 7 are arranged at four points on the top of the scalar channel frame 4, which are respectively connected to the corresponding anchor points on the top of the main frame of the underwater glider. Four lower elastic bodies 10 are arranged at the corresponding positions on the bottom of the scalar channel frame 4. Through the counter-tensioning arrangement of the four upper and four lower elastic bodies, the scalar channel frame 4 is suspended inside the main frame of the underwater glider, effectively isolating the vibration energy transmitted by the main structure, while maintaining the spatial stability of the scalar channel frame 4, providing a stable installation foundation for the scalar channel 3, and greatly improving the vibration resistance of the scalar channel 3.

[0036] To enhance the constraint capability of the scalar channel frame 4 in multiple directions, the installation angles of the upper elastic body 7 and the lower elastic body 10 of the scalar channel frame are set so that their projections on the horizontal plane are radially distributed, ensuring a symmetrical constraint force system in the horizontal direction, and forming an angle with the central axis of the scalar channel frame 4 in the vertical plane. and To enhance the constraint capability of the scalar channel frame 4 in multiple directions, by adjusting the included angle, the stiffness matching of the elastic body in the vertical direction can be optimized, enabling the scalar channel frame 4 to maintain attitude stability when subjected to vertical disturbances, further improving the anti-interference capability of the system and significantly enhancing the attitude maintenance capability of the system under multidimensional disturbances.

[0037] Based on the installation positions of the upward-sloping elastic body 8 and the horizontal elastic body 9 of the vector channel frame, the included angle between them and the scalar channel frame 4 is set. and This allows the two frames to form a spatially misaligned layout under the connection of the elastic bodies, avoiding mechanical interference between the elastic bodies, ensuring that the components of the multi-level linkage flexible suspension system operate in a coordinated manner within a limited space, guaranteeing the long-term stable operation of the acoustic underwater mooring system in complex ocean current environments, and effectively avoiding mechanical interference.

[0038] Step 3: Construct a parametric model for the design of the elastomer length.

[0039] Using the mass, size, buoyancy, and distribution radius of each sensing unit of the acoustic underwater glider as input, a parametric model for the design of the elastomer length is constructed, providing accurate mechanical and geometric boundary conditions for the calculation of the elastomer length.

[0040] The weight of vector channel 1 was collected using a weighing device and a buoyancy testing device. With buoyancy Weight of vector channel frame 2 With buoyancy Weight of scalar channel 3 With buoyancy Weight of scalar channel frame 4 With buoyancy As a fundamental mechanical parameter for calculating the length of the elastic body, it ensures that the suspension system can maintain mechanical balance under actual sea conditions, providing a precise mechanical design basis for the suspension system.

[0041] Set the radius of vector channel 1 2. Vector channel frame radius Scalar channel 3 distribution circle radius The height H of the scalar channel frame 4 is used as a geometric constraint parameter for calculating the length of the elastic body, so that the design results are highly consistent with the actual installation conditions, ensuring that the design and installation heights are consistent and improving the system assembly accuracy.

[0042] Based on the aforementioned mechanical and geometric constraint parameters, a parametric model for the design of the elastic body length is established. The initial values ​​of the preload required by each stage of the elastic body are determined, providing boundary conditions for subsequent calculations of the elastic body length. This ensures that the multi-stage linkage flexible suspension system can work collaboratively in a dynamic environment, achieving the expected damping and constraint effects. It also provides accurate boundaries for the calculation of the elastic body length, guaranteeing the dynamic coordination and damping effects of the system.

[0043] Step 4: Based on the dynamic response requirements of the sensing unit, select the elastic coefficients of the elastic body in each direction to ensure that the elastic body maintains a linear relationship between elastic force and length under preload, and to ensure that the dynamic response of the system is consistent under multi-directional disturbances.

[0044] Based on the allowable displacement range of vector channel 1 and scalar channel 3 under dynamic conditions, the elastic coefficient of the elastic body 6 inclined upward in the vector channel is set. The elastic modulus of the vector channel perpendicular to the elastic body 5 Elastic modulus of vector channel frame elastomers (including vector channel frame upward-sloping elastomers, vector channel frame horizontal elastomers, and vector channel frame vertical elastomers) .

[0045] The elastic body maintains a linear relationship between elastic force and length: that is ,in, The elastic force acting on an elastic body is the restoring force generated by the elastic body under tension or compression. The elastic modulus of the elastic body. Elongation (or compression) of an elastomer, that is, the change in length of the elastomer relative to its original length. Set the elastic coefficient within the range. This represents the original length (natural length) of the elastomer, that is, its length in the unloaded state. It is the reference value for the installation length of the elastomer. The linear operating range of the elastic body indicates that within this length range, the elastic force and elongation maintain a linear relationship (i.e., satisfy Hooke's Law). Beyond this range, it may enter the nonlinear region or undergo plastic deformation.

[0046] In practice, based on the maximum permissible offset of vector channel 1 in the horizontal plane and the required pointing accuracy, the stiffness range of the upward-sloping elastic body 6 of the vector channel is determined, and then the elastic coefficient is selected. This ensures that the vector channel can effectively constrain displacement and restore its center position under pre-tightened conditions, thereby guaranteeing the horizontal positional accuracy of the vector channel. Simultaneously, considering the vertical floating range and buoyancy compensation requirements of vector channel 1, the elastic coefficient of the vertical elastic body 5 of the vector channel is set. This ensures that the vector channel maintains a linear response under dynamic vertical disturbances and possesses adaptive reset capability during vertical floating. The elastic coefficient of the vector channel frame elastic body is [not specified]. The frame is designed based on the overall vibration reduction requirements to ensure that it can effectively isolate the vibration energy transmitted by the main structure, while maintaining the spatial stability of the frame and effectively reducing the interference of the main structure's vibration on acoustic observation.

[0047] Based on the vibration damping requirements of scalar channel 3 and its frame, the elastic modulus of the elastic bodies (including the vertical elastic body 11 and the horizontal elastic body 12 of the scalar channel) selected for the scalar channel is set as follows: The elastic modulus of the elastomers selected for the scalar channel frame (including the upper elastomer 7 and the lower elastomer 10 of the scalar channel frame) is: This ensures that each level of the elastomer operates within the linear elastic range during micro-deformation under preload.

[0048] In practical implementation, the elastic coefficient of the scalar channel frame elastomer Based on the overall vibration reduction requirements of the frame and the connection method with the main frame of the underwater glider, the preload is controlled to ensure that the elastomer always works in the linear range, so as to maintain stable mechanical properties when subjected to multi-directional disturbances, and provide a long-term stable installation foundation for scalar channel 3.

[0049] Combined with the installation angle of each type of elastomer , , , The equivalent stiffness of the elastic bodies in each direction under combined stress is checked. In actual operation, the installation angles of the upward-sloping elastic body 8 and the horizontal elastic body 9 of the vector channel frame are used. and The vector expression of the vector channel frame 2 in the spatial coordinate system is established, and the equivalent stiffness under the combined state is calculated to ensure that the vector channel frame 2 can maintain attitude stability when subjected to combined horizontal and vertical disturbances, thereby improving the anti-overturning capability of the vector channel frame 2 in complex ocean current environments.

[0050] Similarly, considering the installation angles of the elastic body 7 on the scalar channel frame and the elastic body 10 on the lower scalar channel frame... and The equivalent stiffness of the scalar channel frame 4 under multi-directional disturbances is checked to ensure that the scalar channel frame 4 can respond in a coordinated manner and form a unified multi-level linkage flexible suspension system with the vector channel frame 2. This enables the coordinated damping and attitude synchronization of the multi-level suspension system, ensuring the overall observation performance of the acoustic mooring.

[0051] Step 5: Establish a spatial coordinate system and calculate the specific length of each level of flexible suspension elastomer to ensure that the elastomer length is accurately matched with the installation point coordinates, thereby improving the system assembly accuracy.

[0052] Establish a three-dimensional coordinate system with the geometric center of vector channel 1 as the origin, and set the coordinates of the center position of vector channel 1 as follows: The coordinates of the center positions of the six scalar channels 3 are: ,in , represents the number of scalar channels, and sets the center position coordinates of vector channel 1. Based on the symmetrical layout requirements, the coordinates of the center positions of the six scalar channels 3 were determined. This ensures that the six scalar channels 3 are evenly distributed on a circle centered on the vector channel 1, providing a precise spatial positioning reference for calculating the length of the elastic body.

[0053] Based on the concentric constraint of vector channel 1 and scalar channel 3, the positional relationship equation between the center of vector channel 1 and the center of the distribution circle of scalar channel 3 is established as the geometric reference for calculating the length of the elastic body, ensuring that the multi-stage suspension system meets the geometric requirements of concentric design.

[0054] Based on the coordinates of the installation points of each elastomer and the coordinates of the connection points with the sensing unit, a spatial vector expression for each level of elastomer is constructed, and the length of the elastomer between each level of suspension is determined. This enables precise design of the elastomer length and quantitative control of the preload.

[0055] Furthermore, based on the established spatial vector expression of the elastic body, and combined with the symmetrical arrangement characteristics of the upward-sloping elastic bodies 6 of the vector channel, a geometric constraint equation is established for the four upward-sloping elastic bodies 6 of the vector channel to be of equal length and perpendicular to each other. Taking the center of the vector channel 1 as the reference, the spatial coordinates of the horizontal constraint lugs around it are measured. Combined with the position of the corresponding anchor point on the inner wall of the vector channel frame 2, it is ensured that the four elastic bodies are radially distributed at a 90-degree angle in the horizontal plane. Based on this geometric relationship, a constraint condition of equal length is established so that the vector channel 1 is subjected to symmetrical elastic constraint force in the horizontal plane, ensuring the center position pointing accuracy in a dynamic environment.

[0056] Based on the installation position of the vertical elastic body 5 of the vector channel, the overlap requirement between it and the central axis of the vector channel 1 is set. The relationship between the elongation of the vertical elastic body 5 of the vector channel in the pre-tightened state and the vertical displacement of the vector channel 1 is derived. In actual operation, by adjusting the upper and lower connection points of the vertical elastic body 5 of the vector channel to make it coincide with the central axis of the vector channel 1, the influence of the eccentric torque on the vertical movement is eliminated. According to the linear response characteristics of the elastic body, a linear relationship between the elongation and the displacement is established to ensure that the vector channel 1 can adaptively float and quickly reset when subjected to vertical disturbances, while maintaining the spatial positional relationship with other sensing units, improving the system's adaptability in complex ocean current environments, and effectively enhancing the adaptive reset capability of the vector channel 1 under vertical disturbances.

[0057] The mounting angles of the upper elastomer 7 and the lower elastomer 10 of the scalar channel frame are combined. and The geometric coupling relationship between the vertical displacement of each scalar channel 3 and the elongation of the elastic body is established. Based on the geometric dimensions and installation angle of the scalar channel frame 4, the spatial coordinates of the upper and lower connection points of each scalar channel 3 are measured, and the coupling equation between the elongation of the elastic body and the vertical displacement of the channel is established. The establishment of this geometric coupling relationship provides a theoretical basis for the attitude stability of the scalar channel 3 in a dynamic environment, and further improves the overall observation performance of the acoustic mooring system.

[0058] Step 6: Integrate the multi-stage linkage flexible suspension system into the main frame of the acoustic mooring, and conduct overall debugging to ensure that the design of the multi-stage linkage flexible suspension system meets the design requirements, achieves stable operation, and ensures long-term reliable observation of the acoustic mooring in complex marine environments.

[0059] Vector channel 1 is installed onto vector channel frame 2 via vertical elastic body 5 and oblique elastic body 6. Special tooling is used to control the preload of each elastic body, enabling vector channel 1 to float vertically and horizontally under the symmetrical constraint of four elastic bodies radially distributed at 90-degree angles. This ensures stable center position and controllable pointing accuracy, significantly improving the attitude maintenance capability of vector channel 1 in complex ocean currents. Vector channel frame 2 is then connected to scalar channel frame 4 via oblique elastic body 8 and horizontal elastic body 9. The counter-tension arrangement of four elastic bodies at the top and bottom allows vector channel frame 2 to suspend inside scalar channel frame 4, effectively isolating the vibration energy transmitted by the main structure while maintaining the spatial stability of the frame and significantly reducing the interference of the main structure's vibration on acoustic measurements.

[0060] Six scalar channels 3 are installed onto the scalar channel frame 4 via vertical elastic bodies 11 and horizontal elastic bodies 12, respectively, ensuring that each scalar channel 3 maintains the same suspension posture and initial position within the frame. The flexible constraint structure with upper and lower tension absorbs the impact and vibration under dynamic conditions. The scalar channel frame 4 is connected to the main frame of the underwater glider via upper elastic bodies 7 and lower elastic bodies 10. The radial symmetrical arrangement of four elastic bodies at the top and bottom allows the scalar channel frame 4 to suspend inside the main frame of the underwater glider, further isolating the vibration of the main structure and providing a stable installation foundation for the scalar channels 3.

[0061] After the integration of the multi-level linkage flexible suspension system is completed, the center position of vector channel 1 and the center of the distribution circle of scalar channel 3 are calibrated concentrically under static and dynamic excitation. The spatial position changes of each channel are monitored using three-dimensional coordinate measuring equipment, and the preload length of each elastic body is finely adjusted according to the measured data. This ensures that the center of vector channel 1 and the center of the distribution circle of scalar channel 3 coincide with the geometric center of the main frame of the mooring in the initial state. This ensures that when the system is subjected to the impact of ocean currents and attitude swings, each sensing unit can still maintain the preset relative position relationship, achieve the expected vibration reduction and constraint effect, and ensure the long-term stable operation of the acoustic mooring system in complex marine environments until the system meets the design requirements.

[0062] Example 2 like Figure 1 As shown in Example 1, an acoustic mooring device manufactured using the multi-stage linkage flexible suspension design method for acoustic mooring devices includes a mooring frame, a vector channel, a vector channel frame, a scalar channel, a scalar channel frame, a vector channel elastomer, a scalar channel elastomer, a scalar channel frame elastomer, and a vector channel frame elastomer. The scalar channel frame includes two parallel hexagonal frames arranged vertically, with connecting rods at the vertices of the hexagons connecting the two hexagons. The vector channel frame is set as a hollow sphere, with a horizontal bar installed on the top of the upper regular hexagonal frame. A vertical elastic body connecting the hollow sphere to the vector channel frame is set on the horizontal bar.

[0063] The vector channel is located on the central axis of the buoy frame. The six scalar channels are equally spaced on the same horizontal plane with the vector channel as the center. The geometric centers of the vector channel frame and the scalar channel frame coincide in the initial state.

[0064] The vector channel is installed inside the vector channel frame via a vector channel elastomer. The vector channel frame is installed inside the scalar channel frame via a vector channel frame elastomer. The scalar channel is installed in the plane formed by two adjacent connecting rods via a scalar channel elastomer. The scalar channel frame is suspended inside the underwater glider frame via a scalar channel frame elastomer.

[0065] The main functions of the vector channel elastomer, vector channel frame elastomer, and scalar channel elastomer are to improve the stability of the connection and realize the mobility between components, thereby achieving a multi-level linkage flexible suspension architecture. The vector channel and scalar channel are elastically connected respectively, and the sensing unit frame is suspended inside the main frame of the mooring body to form a multi-level vibration isolation system. This system absorbs and attenuates the structural vibration energy transmitted by the swaying of the mooring body caused by ocean current impact, thereby reducing structural noise from the source and improving the purity and detection capability of acoustic signal acquisition. Different types of designs can be made according to actual needs, and are not limited to the design method described in Example 1.

[0066] The above embodiments are merely illustrative of the structural concept and features of the present invention, intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made based on the essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A design method for a multi-stage linkage flexible suspension system for acoustic underwater moorings, characterized in that, Includes the following steps: Step 1: Based on the attitude stability requirements of the mooring in complex ocean current environments, plan the layout and relative position relationship of the vector and scalar sensing units in the acoustic mooring system. The vector and scalar sensing units include a vector channel and a scalar channel set concentrically. The vector channel coincides with the central axis of the mooring body, and the scalar channels are distributed at equal intervals on the same horizontal plane with the vector channel as the center. Step 2: For vector and scalar sensing units, design the elastic body connection architecture of the multi-level linkage flexible suspension system, and plan the elastic body connection methods in the vertical and horizontal directions respectively, so that the number and layout of elastic bodies in each direction meet the constraint and vibration reduction requirements, and isolate multi-directional displacement constraints and structural vibration. Step 3: Using the component characteristics of the acoustic mooring as input, construct a parametric model for the design of the elastomer length, providing accurate mechanical and geometric boundary conditions for the calculation of the elastomer length; Step 4: Based on the dynamic response requirements of the sensing unit, select the elastic coefficients of the elastic body in each direction to ensure that the elastic body maintains a linear relationship between elastic force and length under the action of preload. Step 5: Establish a spatial coordinate system and calculate the specific length of each level of flexible suspension elastomer to accurately match the elastomer length with the installation point coordinates and improve the system assembly accuracy. Step 6: Integrate the multi-stage linkage flexible suspension system into the main frame of the acoustic mooring, and conduct overall debugging to ensure that the design of the multi-stage linkage flexible suspension system meets the design requirements and operates stably, thus ensuring long-term reliable observation of the acoustic mooring in complex marine environments.

2. The acoustic underwater mooring multi-stage linkage flexible suspension design method according to claim 1, characterized in that, Step 1 specifically includes: Step 1-1: Set up the vector channel frame to install the vector channel, and the scalar channel frame to install the scalar channel. Set the initial installation reference plane for the vector channel frame and the scalar channel frame. Set the vertical distance and horizontal offset range between the vector channel and the scalar channel. Step 1-2: Based on the determined layout relationship between the vector channel and the scalar channel, further set the mounting reference planes of the vector channel frame and the scalar channel frame so that the geometric centers of the vector channel frame and the scalar channel frame coincide in the initial state. Steps 1-3: Based on the acoustic observation coverage of the vector channel and scalar channel, adjust the radius R3 of the scalar channel distribution circle and the height H of the scalar channel frame; Steps 1-4: Combining the radius R1 of the vector channel and the radius R2 of the vector channel frame, and taking into account the space margin required for the installation of the elastomer and the displacement range of the vector channel under dynamic conditions, determine the gap range between the vector channel and the vector channel frame.

3. The acoustic underwater mooring multi-stage linkage flexible suspension design method according to claim 2, characterized in that, Step 2 includes: Step 2-1: Design the elastic body connection method between the vector channel and the vector channel frame. In the vertical direction, use one vector channel vertical elastic body to connect the top of the vector channel to the top of the vector channel frame. In the oblique upward direction, use multiple vector channels oblique upward elastic bodies symmetrically arranged around the vector channel on the same horizontal plane. Step 2-2: Design the elastic body connection between the vector channel frame and the scalar channel frame. The top of the vector channel frame is connected to the crossbar of the scalar channel frame through a vector channel frame vertically to the elastic body, and the middle of the vector channel frame is connected to the scalar channel frame horizontally to the elastic body through multiple vector channel frames. Steps 2-3: Design the elastic body connection between the scalar channel and the scalar channel frame. The top and bottom of each scalar channel are connected to the scalar channel frame vertically to the elastic body through the scalar channel, and the left and right sides of the scalar channel are connected to the scalar channel frame horizontally to the elastic body through the scalar channel, forming a flexible constraint structure with upward and downward and left and right tension. Steps 2-4: Based on the determined connection method between the scalar channel and the scalar channel frame, further design the elastic body connection architecture between the scalar channel frame and the underwater glider main frame. Multiple upper elastic bodies of the scalar channel frame are arranged at the top of the scalar channel frame to connect with the underwater glider main frame, and multiple lower elastic bodies of the scalar channel frame are arranged at the corresponding positions at the bottom of the scalar channel frame to connect with the underwater glider main frame.

4. The acoustic underwater mooring multi-stage linkage flexible suspension design method according to claim 3, characterized in that: Step 2 also includes: Steps 2-5: Set the installation angles of the elastic bodies on the upper and lower parts of the scalar channel frame so that they are radially distributed when projected onto the horizontal plane and form angles β1 and β2 with the central axis of the scalar channel frame in the vertical plane, so as to enhance the constraint capability of the scalar channel frame in multiple directions. Steps 2-6: Based on the installation positions of the upward-sloping elastic body and the horizontal elastic body of the vector channel frame, set the included angles α1 and α2 between the vector channel frame and the scalar channel frame, so that the vector channel frame and the scalar channel frame form a spatially misaligned layout under the connection of the elastic bodies.

5. The acoustic underwater mooring multi-stage linkage flexible suspension design method according to claim 4, characterized in that, Step 3 includes: Step 3-1: Collect the weight G1 and buoyancy F1 of the vector channel, the weight G2 and buoyancy F2 of the vector channel frame, the weight G3 and buoyancy F3 of the scalar channel, and the weight G4 and buoyancy F4 of the scalar channel frame as the mechanical basis parameters for calculating the length of the elastic body. Step 3-2: Set R1, R2, R3, and H as geometric constraint parameters for calculating the length of the elastic body; Step 3-3: Based on the aforementioned mechanical fundamental parameters and geometric constraint parameters, establish a parametric model for the design of the elastomer length, determine the initial values ​​of the preload required for each stage of the elastomer, and provide boundary conditions for subsequent elastomer length calculations.

6. The acoustic underwater mooring multi-stage linkage flexible suspension design method according to claim 5, characterized in that, Step 4 includes: Step 4-1: Based on the allowable displacement range of the vector channel and scalar channel in a dynamic environment, set the elastic coefficient k1 of the vector channel upward elastic body, the elastic coefficient k2 of the vector channel vertical elastic body, and the elastic coefficient k3 of the vector channel frame elastic body. The vector channel frame elastic body includes the vector channel frame upward elastic body, the vector channel frame horizontal elastic body, and the vector channel frame vertical elastic body. Step 4-2: Based on the vibration reduction requirements of the scalar channel and its frame, set the elastic coefficient of the scalar channel elastic body to k4 and the elastic coefficient of the scalar channel frame elastic body to k5, so that each level of elastic body works in the linear elastic range when there is slight deformation under the action of preload. The scalar channel elastic body includes the vertical elastic body and the horizontal elastic body of the scalar channel. The scalar channel frame elastic body includes the upper elastic body and the lower elastic body of the scalar channel frame. Step 4-3: Combine the included angles α1, α2, β1, and β2 to check the equivalent stiffness of the elastic body in each direction under combined stress.

7. The acoustic underwater mooring multi-stage linkage flexible suspension design method according to claim 6, characterized in that, Step 5 includes: Step 5-1: Use the geometric center of the vector channel as the origin. Establish a three-dimensional spatial coordinate system, with the coordinates of the scalar channel center position as follows: ,in This indicates the number of scalar channels, ensuring that the scalar channels are evenly distributed on a circle centered on the vector channel, providing a precise spatial positioning reference for calculating the length of the elastic body; Step 5-2: Based on the concentric constraint condition of the vector channel and the scalar channel, establish the positional relationship equation between the center of the vector channel and the center of the distribution circle of the scalar channel, as the geometric reference for calculating the length of the elastic body; Step 5-3: Based on the coordinates of the installation points of each elastomer and the coordinates of the connection points with the sensing unit, construct the spatial vector expressions for each level of elastomer and determine the length of the elastomer between each level of suspension. Precisely design the length of the elastomer and quantitatively control the preload.

8. The acoustic underwater mooring multi-stage linkage flexible suspension design method according to claim 7, characterized in that, Step 5 further includes: Step 5-4: Based on the established elastic body space vector expression, and combined with the symmetrical arrangement characteristics of the elastic bodies obliquely upward in the vector channel, establish the geometric constraint equations for the equal lengths and mutual perpendicularity of the elastic bodies obliquely upward in the vector channel. Step 5-5: Based on the installation position of the vertical elastic body of the vector channel, set the overlap requirement between it and the central axis of the vector channel, and derive the relationship between the elongation of the vertical elastic body of the vector channel in the pre-tightened state and the vertical displacement of the vector channel. Steps 5-6: Combine the included angles β1 and β2 to establish the geometric coupling relationship between the vertical displacement of each scalar channel and the elongation of the elastic body, ensuring that the vertical displacement of the scalar channels is consistent.

9. The acoustic underwater mooring multi-stage linkage flexible suspension design method according to claim 8, characterized in that, Step 6 includes: Step 6-1: Pre-tighten the elastomer, install the vector channel to the vector channel frame through the vector channel vertical elastomer and the vector channel oblique upward elastomer, and connect the vector channel frame to the scalar channel frame through the vector channel frame oblique upward elastomer, the vector channel frame horizontal elastomer and the vector channel frame vertical elastomer; Step 6-2: Install the scalar channel vertically to the elastic body and horizontally to the elastic body into the scalar channel frame, so that the scalar channel maintains the same suspension attitude and initial position within the scalar channel frame; Step 6-3: Connect the scalar channel frame to the interior of the underwater buoy main frame through the upper elastic body and the lower elastic body of the scalar channel frame; Step 6-4: After completing the integration of the multi-stage linkage flexible suspension system, the center position of the vector channel and the center of the scalar channel distribution circle are calibrated under static and dynamic excitation. The preload length of each elastic body is then finely adjusted based on the measured data until the system meets the design requirements.

10. An acoustic underwater buoy, characterized in that: The acoustic mooring is manufactured according to any one of claims 1-9 using a multi-stage linkage flexible suspension design method, and the acoustic mooring includes a mooring frame, a vector channel, a vector channel frame, a scalar channel, a scalar channel frame, a vector channel elastomer, a scalar channel elastomer, a scalar channel frame elastomer, and a vector channel frame elastomer. The scalar channel frame includes two parallel hexagonal frames arranged vertically, with connecting rods connecting the two hexagons at their vertices. The vector channel frame is set as a hollow sphere, with a horizontal bar installed on the top of the upper hexagonal frame. A vertical elastic body connecting the hollow sphere to the vector channel frame is set on the horizontal bar. The vector channel is located on the central axis of the buoy frame, and the six scalar channels are equally spaced on the same horizontal plane with the vector channel as the center. The geometric centers of the vector channel frame and the scalar channel frame coincide in the initial state. The vector channel is connected and installed inside the vector channel frame via a vector channel elastomer. The vector channel frame is installed inside the scalar channel frame via a vector channel frame elastomer. The scalar channel is installed in the plane formed by two adjacent connecting rods via a scalar channel elastomer. The scalar channel frame is suspended inside the underwater glider frame via a scalar channel frame elastomer.

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