无人帆船翼帆桅杆根部应力影响因素及其影响规律研究  

Study on Influencing Factors of Stress at Roots of Autonomous Sailboat Wing Sail Mast and Its Influencing Laws

作　　者：牛温超 孙朝阳 盛忠起[4] 俞建成[1,2] 赵宝德 赵文涛 NIU Wenchao;SUN Zhaoyang;SHENG Zhongqi;YU Jiancheng;ZHAO Baode;ZHAO Wentao(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang,110016;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang,110169;School of Robotics and Intelligent Manufacturing,University of Chinese Academy of Sciences,Beijing,100049;School of Mechanical Engineering and Automation,Northeastern University,Shenyang,110819)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110169 [3]中国科学院大学机器人与智能制造学院,北京100049 [4]东北大学机械工程与自动化学院,沈阳110819

出　　处：《中国机械工程》2023年第22期2647-2658,共12页China Mechanical Engineering

基　　金：国家自然科学基金(42206197);中国博士后科学基金(2022M723311);辽宁省博士科研启动基金(2022-BS-028);机器人学国家重点实验室自主课题(2020-Z14)。

摘　　要：为研究翼帆桅杆根部应力的影响因素及其影响规律,基于等效原理提出了桅杆根部应力的数值计算模型,并通过有限元计算验证了所提模型的准确性。基于所建模型推导发现,对桅杆根部应力造成影响的参数共包含4个外部参数(无人帆船横摇周期、横摇幅值、横摇角度、翼帆偏转角度)和3个翼帆本体参数(翼帆重心高度、翼帆质量、偏心距离)。基于所建模型分析了上述因素对桅杆根部应力的影响规律,发现应力值与横摇周期成递减的负二次幂函数关系,与横摇幅值、翼帆重心高度、偏心距离和翼帆质量成正比,应力值随偏转角度的变化曲线与正弦曲线相吻合,并且在一个横摇周期内应力值曲线呈现正弦波形。最后,针对应力集中于桅杆根部的情况,提出了一种设置加强筋以优化结构的方法,并通过有限元计算和转台晃动实验分析的方法进行了验证,发现所提方法可以有效减小翼帆桅杆工作过程中根部的应力值。In order to study the influencing factors and influencing laws of the wing sail mast root stress,a numerical calculation model of the root stress of the wing sail masts was proposed based on the equivalence principle,and the accuracy of the proposed model was verified by finite element calculation.Based on the numerical calculation model of mast root stress,it was derived that there were 4 external parameters and 3 body parameters which affect the mast root stresses,the external parameters contain autonomous sailboat rolling period,rolling amplitude,rolling angle and deflection angle of wing sails.The body parameters contain mast center of gravity height,wing sail mass and the eccentric distance of wing sail.Based on the numerical calculation model,the influences of the above factors on the root stress of the masts were analyzed,and it is found that the stress values have a decreasing negative quadratic power function relationship with the rolling period,which is proportional to the rolling amplitude,the wing sail center of gravity height,the eccentric distance and wing sail mass,and the change curve of stress values with deflection angle coincides with the sinusoidal curve,and the stress value curve shows a sinusoidal waveform in one roll cycle.Finally,a method of adding stiffeners to optimize the structure was proposed for the stress concentration in the roots of the mast,and it was verified by the finite element calculation and the experimental analysis of turntable shaking.It is found that this method may reduce the stress value of the roots effectively during the working processes of the wing masts.

关 键 词：无人帆船 翼帆桅杆 应力 影响因素 数值计算模型 

分 类 号：U674.926[交通运输工程—船舶及航道工程] U661.4[交通运输工程—船舶与海洋工程]