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deplasări rotiri
• axială ξ(t) 1 • ruliu ϕ(t) 4
• derivă η(t) 2 • tangaj θ(t) 5
• verticală ζ(t) 3 • giraţie ψ(t) 6
unde: m(x) este masa navei pe unitatea de lungime, Fh(x,t) este forţa hidrodinamică
pe unitate de lungime a navei.
D ∂ ∂
= − u s ; !z!(x, t ) = !ζ!(t ) + x ⋅ !θ!(t )
Dt ∂t ∂x
(5.8)
Dz ! D 2 z !!
z (x, t ) = ζ(t ) + x ⋅ θ(t ); = ζ + x ⋅ θ! − u s θ; = ζ + x ⋅ !θ! − 2u s θ!
Dt Dt 2
ζ v* (x, t ) = aw e − kT ε(x )cos(kx cos µ − ωe t )
Dζ v* (x, t )
= ω ⋅ aw e −kT ε(x )sin (kx cos µ − ωe t )
Dt (5.9)
D 2 ζ v* (x, t )
2
= −ω2 ⋅ a w e −kT ε(x )cos(kx cos µ − ωe t )
Dt
Din relaţiile (5.7),(5.8),(5.9) sistemul ecuaţiilor diferenţiale la oscilaţia în
plan vertical are forma:
Aζζ!ζ! + Bζζζ! + Cζζζ + Aζθ!θ! + Bζθθ! + Cζθθ = FV (t ) = aw (Foc cos ωet + Fos sin ωet )
(5.10)
Aθζ!ζ! + Bθζζ! + Cθζζ + Aθθ!θ! + Bθθθ! + Cθθθ = MV (t ) = aw (M oc cos ωet + M os sin ωet )
unde coeficienţii sistemului de ecuaţii au expresiile:
L 2 L 2
Aζζ = ∫ [m(x ) + m33 (x )]dx = ∆ + M 33 Cζζ = ρg ∫ b(x )dx = ρgAw
−L 2 −L 2
L 2
(5.11.a)
Bζζ = ∫ [N 33 (x ) − u s m33′ (x )]dx = B33 − u s [m33 (L 2) − m33 (− L 2)]
−L 2
L2
Aζθ = ∫ x[m(x ) + m33 (x )]dx = xG ∆ − M 35
−L 2
L2
Bζθ = ∫ {− 2u s m33 (x ) + x[N 33 (x ) − u s m33′ (x)]}dx =
−L 2
L (5.11.b)
= −u s M 33 − B35 − u s [m33 (L 2) + m33 (− L 2)]
2
L2
Cζθ = ∫ {ρgxb(x ) − u s [N 33 (x) − us m33′ (x )]}dx =
−L 2
L2
L2
= B55 − u s [m33 (L 2) − m33 (− L 2)] (5.11.d)
4
L 2
L
[m33 (L 2) + m33 (− L 2)] − u s2 M 33
= ρgI y + u s B53 + u s2
2
respectiv la termenul de excitaţie din val:
L 2
∫ 2{− ω m33 (x )cos(kx cos µ ) + ω[N33 (x) − us m33′ (x )]sin (kx cos µ) +
2
Foc =
−L
Dv (x, t )
L 2
∫ x ⋅ m(x )!y!(x, t ) + m22 (x ) o + [N 22 (x ) − u s m22
′ (x )]vo (x, t ) + m24 (x )ϕ
!!(t ) +
−L 2 Dt
L2
Dv y* (x, t )
+ [N 24 (x ) − u s m24
′ (x )]ϕ! (t )}dx = ∫ 22
x ⋅ m (x ) + [N 22 (x ) − u s m22
′ (x )]v y* (x, t ) + (5.32.b)
−L 2 Dt
Dvo (x, t )
L 2
∫ 2 ρG (x )m(x )!y!(x, t ) + m42 (x) + [N 42 (x ) − u s m42
′ (x )]vo (x, t ) +
−L
Dt (5.32.c)
!!(t ) + [N 44 (x ) − u s m44
+ m44 (x )ϕ ′ (x )]ϕ! (t ) + ρgAT (x )ho ϕ(t )}dx =
Capitolul 5 Oscilaţiile cuplate liniare ale navei corp rigid 81
L 2
Dv y* (x, t ) D 2 α *y (x, t )
= ∫ 42 m (x ) + [N 42 (x ) − u m ′
s 42 (x )]v *
y (x , t ) +m44 (x ) 2
+
−L 2 Dt Dt
Dα *y (x, t )
+ [N 44 (x ) − u s m44
′ (x )] + ρgAT (x )ho α *y (x, t )dx = M T (t )
Dt
În urma operaţiilor de derivare obţinem:
y (x, t ) = η(t ) + xψ (t ) + ρG (x )ϕ(t ) ⇒ !y!(x, t ) = η
!!(t ) + xψ
!! (t ) + ρG (x )ϕ
!!(t )
Dyo (x, t )
yo (x, t ) = η(t ) + xψ (t ) ⇒ vo (x, t ) = = η! (t ) + xψ! (t ) − u s ψ (t ) ⇒
Dt (5.33)
Dvo (x, t ) D ∂ ∂
!!(t ) + xψ
=η !! (t ) − 2u s ψ
! (t ); = − us
Dt Dt ∂t ∂x
v y* (x , t ) = a w ω sin µ ⋅ e − kT ε(x )cos (kx cos µ − ω e t )
Dv y* (x , t )
= a w ω 2 sin µ ⋅ e − kT ε (x )sin (kx cos µ − ω e t )
Dt
α *y (x , t ) = − a w k sin µ ⋅ e − kT ε (x )sin (kx cos µ − ω e t )
(5.34)
D α *y (x, t )
= a w kω sin µ ⋅ e − kT ε (x )cos (kx cos µ − ω e t )
Dt
D 2 α *y (x , t )
2
= a w kω 2 sin µ ⋅ e − kT ε(x )sin (kx cos µ − ω e t )
Dt
Din relaţiile (5.32),(5.33),(5.34) rezultă sistemul ecuaţiilor diferenţiale la
oscilaţiile orizontale şi cu răsucire de forma:
Aηηη
!! + Bηηη
! + Aηψψ
!! + Bηψψ !! + Bηϕϕ! = aw (FH1 cosωet + FH2 sinωet)
! + Cηψψ + Aηϕϕ
Aψηη
!! + Bψηη
! + Aψψψ
!! + Bψψψ
! + Cψψψ + Aψϕϕ ! = aw(MH1 cosωet + MH 2 sinωet )
!! + Bψϕϕ (5.35)
Aϕηη
!! + Bϕηη
! + Aϕψψ
!! + Bϕψψ
! + Cϕψψ + Aϕϕϕ ! + Cϕϕϕ = aw(MT1 cosωet + MT 2 sinωet )
!! + Bϕϕϕ
L 2
Bηψ = ∫ {− 2us m22 (x ) + x[N 22 (x ) − us m22′ (x )]}dx =
−L 2
L
= B26 − u s M 22 − u s [m22 (L 2) + m22 (− L 2)]
2
L2
L2
Aψη = ∫ x[m(x ) + m22 (x )]dx = xG ∆ + M 62
−L 2
L2
L
Bψη = ∫ x[N 22 (x ) − u s m22′ (x )]dx = B62 − us 2 [m22 (L 2) + m22 (− L 2)] + u s M 22
−L 2
L 2
L2
= B66 − u s [m22 (L 2) − m22 (− L 2)] (5.36.b)
4
L2
Cψψ = −u s ∫ x[N 22 (x ) − us m22′ (x )]dx =
−L 2
L
= −u s B62 + u s2 [m22 (L 2) + m22 (− L 2)] − u s2 M 22
2
L2
Aψϕ = ∫ x[ρG (x )m(x ) + m24 (x )]dx ≅ J xz + M 64
−L 2
L2
L
Bψϕ = ∫ x[N 24 (x ) − us m′24 (x )]dx = B64 − us 2 [m24 (L 2) + m24 (− L 2)] + us M 42
−L 2
L 2
Aϕη = ∫ 2[ρG (x)m(x ) + m42 (x )]dx = zG ∆ + M 42 (5.36.c)
−L
Capitolul 5 Oscilaţiile cuplate liniare ale navei corp rigid 83
L2
Bϕη = ∫ [N 42 (x) − us m42′ (x )]dx = B42 − us [m42 (L 2) − m42 (− L 2)]
−L 2
L2
Aϕψ = ∫ 2x[ρG (x )m(x) + m42 (x )]dx ≅ J xz + M 46
−L
L2
Bϕψ = ∫ {− 2us m42 (x ) + x[N 42 (x ) − us m42′ (x )]}dx =
−L 2
L
= B46 − u s M 42 − u s [m42 (L 2) + m42 (− L 2)]
2
L2
Cϕψ = −u s ∫ [N 42 (x) − us m42′ (x )]dx =
−L 2
−L 2
L2
(5.37.a)
FH 2 (ωe ) = sinµ ∫ {− ω m22(x)cos(kxcosµ) + ω[N22(x) − usm′22(x)]sin(kxcosµ)}e ε(x)dx
2 −kT
−L 2
L2
L2
{
M H1 (ωe ) = sinµ ∫ x ω2 m22 (x)sin(kxcosµ) + ω[N22 (x) − us m′22 (x)]cos(kxcosµ) e−kT ε(x)dx }
−L 2
L2
(5.37.b)
{
+ k ⋅ sinµ ∫ x ω m24 (x)sin(kxcosµ) + ω[N24 (x) − us m24
2
′ (x)]cos(kxcosµ) e } −kT
ε(x)dx
−L 2
84 Dinamica navei. Oscilaţii şi vibraţii ale corpului navei
L2
MH 2 (ωe ) = sinµ ∫ x{− ω2m22(x)cos(kxcosµ) + ω[N22(x) − us m22
′ (x)]sin(kxcosµ)}e−kTε(x)x +
−L 2
L2
{ }
+ k ⋅ sinµ ∫ x − ω2m24(x)cos(kxcosµ) + ω[N24(x) − us m′24(x)]sin(kxcosµ) e−kTε(x)dx
−L 2
L2
MT1(ωe ) = sin µ ∫ {ω m42(x)sin(kxcosµ) + ω[N42(x) − usm42′ (x)]cos(kxcosµ)}e ε(x)dx
2 −kT
−L 2
L2
∫ AT (x)sin(kxcosµ)e ε(x)dx
−kT
− sin µ ⋅ ρgho
−L 2
L2
(5.37.c)
MT 2 (ωe ) = sinµ ∫ {− ω m42(x)cos(kxcosµ) + ω[N42(x) − usm42′ (x)]sin(kxcosµ)}e ε(x)dx
2 −kT
−L 2
L2
−L 2
L2
∫ AT (x)cos(kxcosµ)e ε(x)dx
−kT
+ sinµ ⋅ ρgho
−L 2
Obs. Din relaţiile (5.37) rezultă că pentru cazurile µ=0o, µ=180o nu apar
oscilaţiile orizontale cu răsucire, termenii de excitaţie fiind nuli.
(
− ωe2 Aηη ωe Bηη Cηψ − ωe2 Aηψ )
ωe Bηψ − ωe2 Aηϕ ωe Bηϕ
2
− ωe Bηη − ωe Aηη − ωe Bηψ 2
(
Cηψ − ωe Aηψ )
− ωe Bηϕ − ωe2 Aηϕ
− ω2 A
[A(ωe )] = e ψη (
ωe Bψη Cψψ − ωe2 Aψψ )
ωe Bψψ − ωe2 Aψϕ ωe Bψϕ
2
− ωe Bψη − ωe Aψη − ωe Bψψ (
Cψψ − ω2e Aψψ − ωe Bψϕ) − ωe2 Aψϕ
− ω2 A
e ϕη
(
ωe Bϕη Cϕψ − ωe2 Aϕψ )
ωe Bϕψ Cϕϕ − ωe2 Aϕϕ( )
ωe Bϕϕ
− ωe Bϕη − ωe2 Aϕη − ωe Bϕψ (
Cϕψ − ω2e Aϕψ )
− ωe Bϕϕ (
Cϕϕ − ωe2 Aϕϕ )
Obs. Cunoscând η(t),ψ(t),ϕ(t) se calculează sarcina orizontală qH(x,t)
(5.26.a) şi cea torsională mT(x,t) (5.26.b) pe baza cărora determinăm eforturile
secţionale în plan orizontal, forţa tăietoare, momentul încovoietor şi momentul de
răsucire:
x
TH (x, t ) = ∫ qH (x, t )dx = Ta (x )cos(ωet − εT )
−L 2
x
M H (x, t ) = ∫ TH (x, t )dx = M a (x )cos(ωet − ε M ) (5.40)
−L 2
x
M T (x, t ) = ∫ mT (x, t )dx = M Ta (x )cos(ωet − ε M ) T
−L 2