Abstract
An underwater robot is one of the important ocean equipment, and especially its stealth performance has influenced on the vitality in naval warfare. Structure radiation noise as the main source of underwater robot noise, so analysis on vibration and noise radiation is a topic of great concern. The way is used widely that based on fluid-solid coupling modal analysis combined with simulation on vibration and noise-radiation response in order to evaluate stealth performance of underwater structure. In the paper, firstly via finite element method and boundary element method, the modal frequencies and vibration modes of small underwater robot are calculated. Then the surface vibration displacements of underwater robot and the sound pressures of acoustic field under different frequency horizontal exciting force are obtained and analyzed. Lastly, through the analysis of the structural vibration and acoustic performance, the control strategies for structure bending vibration, acoustic radiation and structural acoustic design are proposed.
Highlights
With the development of application of underwater robot, it has been extended to underwater assault weapons step by step, so more and more high demands on stealth performance are necessary
The control technology of vibration and radiated noise for underwater robot is researched by navies in the world to decrease the likelihood of detection by sonar, and it is becoming an important evaluation index of underwater robot performance
For underwater robot, as a case of exterior acoustic radiation problem in infinite domain, the finite element method is difficult to determine the split edge resulting in large calculation errors
Summary
With the development of application of underwater robot, it has been extended to underwater assault weapons step by step, so more and more high demands on stealth performance are necessary. The vibration and noise prediction and control technology affect greatly the stealth performance, and influence the underwater robot vitality. For most research on noise prediction method of underwater robot, the finite element method (FEM) and boundary element method (BEM) [5,6,7] are widely used. The finite element method is put forward in the 1950s, has been quickly applied to the analysis and calculation of acoustic radiation problems. For underwater robot, as a case of exterior acoustic radiation problem in infinite domain, the finite element method is difficult to determine the split edge resulting in large calculation errors. The method combined the finite element method and boundary element method is used so as to analyze vibration and sound radiation response for a small underwater robot. The acoustical problem is solved by using the boundary element method for the infinite domain
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