带有动力吸振器浮筏隔振系统的减振特性研究
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摘要
浮筏隔振系统是一种新型有效的减振降噪装置,已开始广泛应用于各种舰船的动力装置中。它可有效地抑制机械振动能量传递到船体,使舰船结构在振动激励下产生的自噪声与辐射噪声大幅度降低,并能对来自船体底部的冲击有着良好的隔离效果。与其相关的理论与试验研究也成为隔振技术领域的研究热点。但是传统被动浮筏仍然是被动隔振,在使用过程中发现有以下不足:首先,在舰艇低速航行,机械设备激励频率等于或低于系统共振频率的情况,隔振措施会“失效”;其次,当舰艇航行工况变化,即振源为变频激励时,隔振系统远离最佳工作状态,导致传递到基座面板处的振动级加大,引起水下辐射噪声增高。
本论文以实验室承担的工程预研项目为背景,通过研究带有吸振器的浮筏隔振系统的减振特性,就吸振器在浮筏上减振应用的问题进行探索,具有一定的理论意义和重要实用价值,其具体研究内容如下。
实际浮筏的筏体多由箱梁结构组成,结构复杂,计算量大。本文首先从简单结构浮筏系统着手研究动力吸振器在浮筏上的应用,考察通过安装动力吸振器改善浮筏系统隔振性能这一方法的可行性,并为吸振器在实际复杂浮筏结构上的应用提供参考。主要采用结构导纳综合法建立了有、无吸振器的板式浮筏模型,分析比较了相应复杂耦合隔振系统的功率流传递特性。理论分析表明,通过在筏架上安装动力吸振器,尤其是自调谐式半主动吸振器来改善浮筏隔振系统的隔振性能是切实可行的。研究表明吸振器安装位置与下层隔振器相对时,会有较好的减振效果;对于被动吸振器,吸振器在其吸振频率处有明显的减振效果,而当激励频率偏离吸振器的吸振频率时,几乎没有减振效果,甚至有反效果;由不同吸振频率吸振器组合而成的宽频吸振器组可以明显拓宽被动吸振器有效减振频带宽度;自调谐半主动吸振器控制频带宽,对工况的适应性要优于被动吸振器;而吸振器的阻尼和质量比等结构参数对于耦合系统隔振性能有较大影响,在满足系统稳定性和工程实际要求的前提下,应用小阻尼、大质量比的吸振器可有效改善浮筏隔振系统的隔振性能。
导纳功率流法是当前的研究浮筏功率流传递的主流研究手段,但其分析对象限于筏体为梁、板等可以获得解析导纳的简单浮筏系统;而且上述工作主要用作浮筏功率流传递理论上的定性研究,尚不能满足分析实际工程问题的需要。本文采用有限元方法,对一实际应用的浮筏系统进行了系统动态特性数值模拟和试验研究,并以此为例较为系统、全面地总结了以有限元分析为手段、功率流为指标的浮筏装置隔振效果的计算方法。
该方法应用有限元软件前处理模块直接生成复杂浮筏系统的模型,文中对该方法中筏体、隔振器、基础的建模分别予以了说明:对于筏体单元类型、尺寸等于结果的影响进行了讨论;提出了基于工程软件隔振器复刚度建模方法,模型参数根据试验测得的隔振器速度阻抗换算而来,可体现隔振器随频率变化的刚度和阻尼特性,并就常数参数模型适用的频率范围给出了说明;对于弹性基础的处理可根据实体建模,也可根据实验阻抗数据换算进行简化建模。在此基础上,应用工程软件的谐响应分析技术求解系统在外激励下的响应,并采用后处理程序对系统响应根据不同的工况进行处理运算,从而得到同频和多频激励下浮筏系统的传递功率流。
由于研究重点在于对吸振器在浮筏低频减振应用做初步的理论分析和实验验证,所以有必要设计一套应用于该研究的既具有真实复杂浮筏系统动力学特点,质量又较小、易于控制的实验研究用浮筏模型系统。浮筏系统的优良减振效果部分来自于其内部阻尼耗散了振动源传递过来的振动能量。因此,如果适当地增加浮筏系统的阻尼,如变传统焊接方式为螺栓连接,利用螺栓连接的连接阻尼增加筏架内部阻尼;又如在筏体结构中引入橡胶阻尼材料,将会带来浮筏减振效果的进一步改善,有效降低系统在低频段的功率流传递。文中设计实现的浮筏模型系统的筏体,主要结构形式采用仿书柜式的由上筏体和下筏体组成的新型装配式结构,上筏体与下筏体之间装有可更换的垫块,筏架整体由螺栓连接。垫块可以是钢块或橡胶阻尼材料。另外,非常重要的一点是,这种组合式的结构为吸振器的配置安装提供了较大的可利用空间。有限元分析与实验结果表明,该浮筏模型系统具有良好的隔振效果。
对设计的刚性基础和弹性基础浮筏模型系统的低频段动力学特性进行了实验研究,主要包括系统振动频响实验以及系统隔振性能测试等方面;采用测得的浮筏模型系统的频响函数对弹性基础浮筏模型系统的有限元模型进行了参数修正。为下一步吸振器参数的设定提供了参考,为吸振器应用效果的模拟计算预报提供了可靠的模型。在此基础上,结合吸振器在复杂浮筏隔振系统上的减振实验,对带有吸振环节的复杂浮筏隔振系统动力学特性进行了研究。对多种工况下吸振器在复杂浮筏系统上的减振效果给出了估算和预报,并完成了实验验证,得到了满意的结果。
The floating raft system is a novel isolation device for vibration control, which has now started to be widely used for vibration isolation of power plants on ships. The system can depress the mechanical vibratory energy transmission from the power plant to the ship hull; reduce the self-noise and radiation noise of the ship structures, meanwhile, effectively isolate the sudden shocks from the bottom of ship. The theoretical and experimental study on floating raft systems has drawn much attention in recent years. However, conventional floating raft system is limited to passive isolation, and it has some diadvantages in practical application. First, in the case that the ship is voyaging in low speed, the excitation frequency is equal to or lower than the natural frequency of the floating raft system, which will cause the system fail to work properly. Second, the system performance deviates its best state if the vibration source is changed to variable-frequency excitation due to the changing of voyaging ship speed, which will increase the vibration level on the base and radiated noise from the hull.
This dissertation is a part of an engineering project item that is performed in the author's research group. It mainly focuses on the application of dynamic vibration absorbers (DVAs) on floating raft system by analyzing the power flow characteristics of the floating raft system with DVAs on it.
The practical floating raft system usually consistes of box girder structures, which is complicated and difficult for analysis. Therefore, the first part of the dissertation discusses the feasibility of applying the DVAs on plate raft system, and provides theoretical foundation for the application of DVA on the practical complex floating raft system. The mathematical models of the complex coupled system with/without the DVAs are implemented by assembling the mobility matrices of the subsystems. Then the power flow transmission characteristics of the coupled system with/without the DVAs are investigated to evaluate and compare the isolation performance from the view of vibration energy transmission. The results show that DVAs, Semi-Active DVAs in particular, can significantly improve the isolation performance of the floating raft system. The results also give some valuable inspirations. Installing the DVAs opposite to the lower isolators will make the vibration attenuation effect more remarkable. For the passive DVA, when excitation frequency is equal to its resonant frequenc, it works properly; otherwise, it barely attenuate the vibration even exacerbate the vibration of the raft. The group consistes of DVAs with different resonant frequencies significantly broadens the frequency bandwidth of effective vibration control. Semi-Active DVAs have a wider frequency bandwidth of effect than passive DVAs. The system performance is sensitive to structural parameters of vibration absorbers such as damp and mass ratio. For the DVA that satisfies the system stability and other requirements, the one with smaller damp and larger mass ratio can significantly improve the performance of the floating raft system.
Investigating the power flow in floating raft system based on the synthesis of mobility matrixes is the main method in this research area. However, the previous work mainly confines to simple structures, such as beam or plate, whose mobility matrix can be obtained by analysis. In addition, this qualitative method cannot satisfy the analysis requirements of practical problems. In the thesis, a FEM analysis method for investigating the characteristic of the vibratory power transmission of the complex floating raft system is proposed for the practical floating raft system.
The method employs the fore-treatment module of FEM software to generate the structural model of complex floating raft system. In this dissertation, the model buildings of floating raft, vibration isolator and base are described. The influence of the element type and size on the analyzed results is discussed. The complex stiffness method is proposed to simulate the impedance of the vibration isolators in the finite element models, and the stiffness and damp coefficient varying with frequency are converted based on the principle from the velocity impedance measured in the testing. The proper frequency domain for the constant parameter model is also discussed. As for the basement, either the full-scale modeling or simple modeling based on complex stiffness method is applicable in this analysis method. By using the harmonic response analysis technique, the response of the linear system under multiple harmonic excitations in same frequency or different frequencies can be determined. Thus, the desired vectors required to calculate the power transmission could be obtained.
The theme of this thesis is to do elementary research on the application of DVAs on floating raft system by theoretical, numerical and experiment method, so it is necessary to design an experimental platform. The platform should not only have the dynamic characteristics of the practical complex floating raft system, but also a small mass convenient for control by small effort. The interior damping of the raft dissipates the transmission energy from the vibrating source, which is one reason that the floating raft system has an outstanding performance in vibration isolation. Therefore, increasing the interior damping of the raft by some effective ways, such as using joint bolt connection or attaching rubber material to the raft, will improve the performance of the floating raft system and effectively depress the power flow transmission. A model floating raft system with a novel structural style is designed and realized for research purpose. The raft of the system is consisted of two parts called upper raft and lower raft connected with joint bolt. There are also some blocks, which can be steel or rubber material, between these two parts. More importantly, this combined type floating raft system provides enough space for installing the DVAs. Both the analysis and experimental results show that the model has a good performance of vibration isolation.
In order to get the dynamic characteristics of the floating raft system at low frequency stage, some experiments are carried out on the model floating raft system with rigid foundation and elastic foundation. These experiments include measuring the structural frequency response function (FRF) and testing the vibration isolation performance of the system. By using the measured frequency response function (FRF) data to update analytical models, it provides some guidance for the parameters setting of the DVAs and a reliable analytical model for further analysis on the application of DVAs on the complex floating raft system. Based on the above work, the thesis studied the characteristics of the complex floating raft with DVAs on it combined with the experiment on damping capacity of the DVAs on the model floating raft system. This study gives estimation and prediction of the damping capacity of the DVAs under multiple operating modes. Experimental results coincide with the analyzed results, which demonstrate the reliability of the proposed method.
本论文以实验室承担的工程预研项目为背景,通过研究带有吸振器的浮筏隔振系统的减振特性,就吸振器在浮筏上减振应用的问题进行探索,具有一定的理论意义和重要实用价值,其具体研究内容如下。
实际浮筏的筏体多由箱梁结构组成,结构复杂,计算量大。本文首先从简单结构浮筏系统着手研究动力吸振器在浮筏上的应用,考察通过安装动力吸振器改善浮筏系统隔振性能这一方法的可行性,并为吸振器在实际复杂浮筏结构上的应用提供参考。主要采用结构导纳综合法建立了有、无吸振器的板式浮筏模型,分析比较了相应复杂耦合隔振系统的功率流传递特性。理论分析表明,通过在筏架上安装动力吸振器,尤其是自调谐式半主动吸振器来改善浮筏隔振系统的隔振性能是切实可行的。研究表明吸振器安装位置与下层隔振器相对时,会有较好的减振效果;对于被动吸振器,吸振器在其吸振频率处有明显的减振效果,而当激励频率偏离吸振器的吸振频率时,几乎没有减振效果,甚至有反效果;由不同吸振频率吸振器组合而成的宽频吸振器组可以明显拓宽被动吸振器有效减振频带宽度;自调谐半主动吸振器控制频带宽,对工况的适应性要优于被动吸振器;而吸振器的阻尼和质量比等结构参数对于耦合系统隔振性能有较大影响,在满足系统稳定性和工程实际要求的前提下,应用小阻尼、大质量比的吸振器可有效改善浮筏隔振系统的隔振性能。
导纳功率流法是当前的研究浮筏功率流传递的主流研究手段,但其分析对象限于筏体为梁、板等可以获得解析导纳的简单浮筏系统;而且上述工作主要用作浮筏功率流传递理论上的定性研究,尚不能满足分析实际工程问题的需要。本文采用有限元方法,对一实际应用的浮筏系统进行了系统动态特性数值模拟和试验研究,并以此为例较为系统、全面地总结了以有限元分析为手段、功率流为指标的浮筏装置隔振效果的计算方法。
该方法应用有限元软件前处理模块直接生成复杂浮筏系统的模型,文中对该方法中筏体、隔振器、基础的建模分别予以了说明:对于筏体单元类型、尺寸等于结果的影响进行了讨论;提出了基于工程软件隔振器复刚度建模方法,模型参数根据试验测得的隔振器速度阻抗换算而来,可体现隔振器随频率变化的刚度和阻尼特性,并就常数参数模型适用的频率范围给出了说明;对于弹性基础的处理可根据实体建模,也可根据实验阻抗数据换算进行简化建模。在此基础上,应用工程软件的谐响应分析技术求解系统在外激励下的响应,并采用后处理程序对系统响应根据不同的工况进行处理运算,从而得到同频和多频激励下浮筏系统的传递功率流。
由于研究重点在于对吸振器在浮筏低频减振应用做初步的理论分析和实验验证,所以有必要设计一套应用于该研究的既具有真实复杂浮筏系统动力学特点,质量又较小、易于控制的实验研究用浮筏模型系统。浮筏系统的优良减振效果部分来自于其内部阻尼耗散了振动源传递过来的振动能量。因此,如果适当地增加浮筏系统的阻尼,如变传统焊接方式为螺栓连接,利用螺栓连接的连接阻尼增加筏架内部阻尼;又如在筏体结构中引入橡胶阻尼材料,将会带来浮筏减振效果的进一步改善,有效降低系统在低频段的功率流传递。文中设计实现的浮筏模型系统的筏体,主要结构形式采用仿书柜式的由上筏体和下筏体组成的新型装配式结构,上筏体与下筏体之间装有可更换的垫块,筏架整体由螺栓连接。垫块可以是钢块或橡胶阻尼材料。另外,非常重要的一点是,这种组合式的结构为吸振器的配置安装提供了较大的可利用空间。有限元分析与实验结果表明,该浮筏模型系统具有良好的隔振效果。
对设计的刚性基础和弹性基础浮筏模型系统的低频段动力学特性进行了实验研究,主要包括系统振动频响实验以及系统隔振性能测试等方面;采用测得的浮筏模型系统的频响函数对弹性基础浮筏模型系统的有限元模型进行了参数修正。为下一步吸振器参数的设定提供了参考,为吸振器应用效果的模拟计算预报提供了可靠的模型。在此基础上,结合吸振器在复杂浮筏隔振系统上的减振实验,对带有吸振环节的复杂浮筏隔振系统动力学特性进行了研究。对多种工况下吸振器在复杂浮筏系统上的减振效果给出了估算和预报,并完成了实验验证,得到了满意的结果。
The floating raft system is a novel isolation device for vibration control, which has now started to be widely used for vibration isolation of power plants on ships. The system can depress the mechanical vibratory energy transmission from the power plant to the ship hull; reduce the self-noise and radiation noise of the ship structures, meanwhile, effectively isolate the sudden shocks from the bottom of ship. The theoretical and experimental study on floating raft systems has drawn much attention in recent years. However, conventional floating raft system is limited to passive isolation, and it has some diadvantages in practical application. First, in the case that the ship is voyaging in low speed, the excitation frequency is equal to or lower than the natural frequency of the floating raft system, which will cause the system fail to work properly. Second, the system performance deviates its best state if the vibration source is changed to variable-frequency excitation due to the changing of voyaging ship speed, which will increase the vibration level on the base and radiated noise from the hull.
This dissertation is a part of an engineering project item that is performed in the author's research group. It mainly focuses on the application of dynamic vibration absorbers (DVAs) on floating raft system by analyzing the power flow characteristics of the floating raft system with DVAs on it.
The practical floating raft system usually consistes of box girder structures, which is complicated and difficult for analysis. Therefore, the first part of the dissertation discusses the feasibility of applying the DVAs on plate raft system, and provides theoretical foundation for the application of DVA on the practical complex floating raft system. The mathematical models of the complex coupled system with/without the DVAs are implemented by assembling the mobility matrices of the subsystems. Then the power flow transmission characteristics of the coupled system with/without the DVAs are investigated to evaluate and compare the isolation performance from the view of vibration energy transmission. The results show that DVAs, Semi-Active DVAs in particular, can significantly improve the isolation performance of the floating raft system. The results also give some valuable inspirations. Installing the DVAs opposite to the lower isolators will make the vibration attenuation effect more remarkable. For the passive DVA, when excitation frequency is equal to its resonant frequenc, it works properly; otherwise, it barely attenuate the vibration even exacerbate the vibration of the raft. The group consistes of DVAs with different resonant frequencies significantly broadens the frequency bandwidth of effective vibration control. Semi-Active DVAs have a wider frequency bandwidth of effect than passive DVAs. The system performance is sensitive to structural parameters of vibration absorbers such as damp and mass ratio. For the DVA that satisfies the system stability and other requirements, the one with smaller damp and larger mass ratio can significantly improve the performance of the floating raft system.
Investigating the power flow in floating raft system based on the synthesis of mobility matrixes is the main method in this research area. However, the previous work mainly confines to simple structures, such as beam or plate, whose mobility matrix can be obtained by analysis. In addition, this qualitative method cannot satisfy the analysis requirements of practical problems. In the thesis, a FEM analysis method for investigating the characteristic of the vibratory power transmission of the complex floating raft system is proposed for the practical floating raft system.
The method employs the fore-treatment module of FEM software to generate the structural model of complex floating raft system. In this dissertation, the model buildings of floating raft, vibration isolator and base are described. The influence of the element type and size on the analyzed results is discussed. The complex stiffness method is proposed to simulate the impedance of the vibration isolators in the finite element models, and the stiffness and damp coefficient varying with frequency are converted based on the principle from the velocity impedance measured in the testing. The proper frequency domain for the constant parameter model is also discussed. As for the basement, either the full-scale modeling or simple modeling based on complex stiffness method is applicable in this analysis method. By using the harmonic response analysis technique, the response of the linear system under multiple harmonic excitations in same frequency or different frequencies can be determined. Thus, the desired vectors required to calculate the power transmission could be obtained.
The theme of this thesis is to do elementary research on the application of DVAs on floating raft system by theoretical, numerical and experiment method, so it is necessary to design an experimental platform. The platform should not only have the dynamic characteristics of the practical complex floating raft system, but also a small mass convenient for control by small effort. The interior damping of the raft dissipates the transmission energy from the vibrating source, which is one reason that the floating raft system has an outstanding performance in vibration isolation. Therefore, increasing the interior damping of the raft by some effective ways, such as using joint bolt connection or attaching rubber material to the raft, will improve the performance of the floating raft system and effectively depress the power flow transmission. A model floating raft system with a novel structural style is designed and realized for research purpose. The raft of the system is consisted of two parts called upper raft and lower raft connected with joint bolt. There are also some blocks, which can be steel or rubber material, between these two parts. More importantly, this combined type floating raft system provides enough space for installing the DVAs. Both the analysis and experimental results show that the model has a good performance of vibration isolation.
In order to get the dynamic characteristics of the floating raft system at low frequency stage, some experiments are carried out on the model floating raft system with rigid foundation and elastic foundation. These experiments include measuring the structural frequency response function (FRF) and testing the vibration isolation performance of the system. By using the measured frequency response function (FRF) data to update analytical models, it provides some guidance for the parameters setting of the DVAs and a reliable analytical model for further analysis on the application of DVAs on the complex floating raft system. Based on the above work, the thesis studied the characteristics of the complex floating raft with DVAs on it combined with the experiment on damping capacity of the DVAs on the model floating raft system. This study gives estimation and prediction of the damping capacity of the DVAs under multiple operating modes. Experimental results coincide with the analyzed results, which demonstrate the reliability of the proposed method.
引文
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