【作者】 刘健；

【导师】 岳前进；

【作者基本信息】 大连理工大学 ， 工程力学， 2025， 博士

【摘要】 我国拥有3万余公里的海岸线。在近海海洋科学研究、资源开发及国防安全等领域亟需高性能水下装备,以满足复杂环境下的观测、监测及作业需求。水下航行器应根据任务需求对运载模块进行定制化设计与制造。水下航行器系统构成复杂,可大致划分为功能模块与运载模块两个子系统。其中,运载模块系统需根据功能模块与性能要求设计整体浮力、阻力、动力及智能控制等。因此,水下作业系统的设计是一个多功能、多元系统设计的过程。多元功能导致航行器设计难度增加,模块间存在强关联性,造成复杂的系统工程问题。传统孤立的模块设计将导致总体运载性能降低,使控制乃至整个后续开发困难加剧。近浅海作业环境下,小型水下航行器在实现经济性优化的同时,其动力学系统面临着显著的环境敏感性挑战。其存在的非线性特征显著、多物理场强耦合等复杂系统特性,已成为制约近海特种作业装备技术发展的关键难题。本文面向近浅海海洋工程复杂监测及作业需求,针对有缆自主水下航行器在复杂海洋环境下的设计与分析难题,基于动态耦合分析与水动力响应分析方法,揭示了航行器主体、推进系统、缆线在不同作业条件下的多体耦合作用机制。针对以上三个核心子系统,采用数值仿真与实验验证相结合的技术路线,进行了优化设计、耦合分析、性能预测及仿真验证等系列研究,并最终获得了满足海洋工程监测、检测作业需求的、适应目标海况的、经济性小型水下作业系统。本文的主要研究内容,方法及成果概括如下:(1)针对有缆自主水下航行器外形设计中高维宽域设计空间、高非线性、多需求等问题,提出了基于多代理模型预测的多目标设计方法。新概念航行器应用条件与功能需求区别于传统水下航行器形式,在近浅海环境荷载和扰动下的低响应流体外形设计更有利于总体性能的提升。本文采用了一种结合设计域非线性考虑的多代理模型预测设计方法。通过人工神经网络与遗传算法构建全域代理模型,结合最小预测因子准则筛选设计域;在改进设计域中,采用回归克里金代理模型预测,并引入NSGA-Ⅱ算法,实现了多环境荷载下流体动力学性能的帕累托优化。经过仿真及实验验证,该方法在低成本下可精确获取综合性能最优的水动力外形。(2)针对有缆自主水下航行器推进系统的流体耦合影响问题,采用有限体积数值仿真方法从预测性能、效能、设计等方面对于推进系统布局设计进行了系统地分析研究。推进系统运行中会与周围流场产生复杂的流体耦合作用问题,会加剧系统输出的非线性。采用动态参考系与滑移网格方法,建立了航行器主体、缆线作用力、推进系统耦合的水动力分析模型,通过对布置距离、布置角度、推进器运行状态等参量的变化,分析了不同作业条件静水自推进状态中不同推进系统布置的推力、扭矩以及主体阻力的变化情况,确定了不同流体耦合作用模式与航行器推进系统耦合作用规律。同时,结合总体设计要求,得到了预测性能良好、抗扰动能力强、高效能、力学性能稳定的推进系统布置方案。(3)针对近浅海环境荷载下航行器主体-推进系统-缆线的力和运动耦合问题,建立了基于时空耦合关系的水动力模型。通过解析波浪荷载作用下缆线张力演变规律与线形变化规律,建立了航行器主体-推进系统-缆线动态耦合分析模型。对不同作业深度、运行速度、运行方向的有缆自主运载装备作业系统的运动特征进行了研究。并基于运动特征分析,提出了具有动态补偿机制的自适应增量PID控制策略,纵向速度波动值被抑制低于目标速度的3%,且与俯仰、升沉运动解耦,显著提高了复杂海况下的作业稳定性。(4)针对浅海特种水下航行器设计中子系统交互性强、整体性能优化路径模糊、构效耦合机理复杂等问题,基于涵盖需求分析-功能定义-概念设计-协同优化设计-动态验证的全生命周期系统工程设计框架,并融合环境适应性外形优化、推进系统耦合效应分析、机体-推进系统-缆线水动力分析模型及自适应控制等关键技术,形成了面向特种需求水下航行器的一体化设计方法。该方法改进了传统模块化设计方法中子系统交互影响评估不足、全局性能优化困难的问题,为特种水下装备的研发提供了可供参考的解决方案。更多还原

【Abstract】 With a coastline exceeding 30,000 kilometers,China confronts substantial demands for diverse underwater equipment to support marine scientific research,offshore resource exploitation,and naval defense operations.Key applications of such equipment encompass underwater environmental monitoring,subsea infrastructure inspection,and remotely operated intervention tasks.Underwater vehicles require customized design and manufacturing of the transport module based on the specific mission modules.The system architecture of underwater vehicles is highly complex and can be broadly categorized into two subsystems:the functional module and the transport module.The design of the transport module subsystem must account for overall buoyancy,resistance,propulsion,and intelligent control,tailored to the requirements of the functional module and performance specifications.As a result,the design of underwater vehicles constitutes a multifunctional and multi-system engineering process.The multifunctional requirements increase the complexity of vehicle design,as strong interdependencies among modules lead to intricate systems engineering challenges.Especially in the complex environments of nearshore and shallow waters,traditional isolated module design approaches may result in degraded overall performance or exacerbate difficulties in control and subsequent development.Under shallow coastal environments,small underwater vehicles encounter significant environmental sensitivity challenges in their dynamic systems while achieving cost-effectiveness optimization.The pronounced nonlinear characteristics and tightly coupled multi-physics interactions inherent in these complex systems have emerged as critical constraints impeding the technological advancement of specialized nearshore operational equipment.This paper addresses the design and analysis challenges of a cable-connected autonomous and remotely operated underwater vehicle in complex marine environments,targeting the intricate monitoring and operational requirements of inshore shallow sea marine engineering.Through dynamic coupling analysis and hydrodynamic response analysis methodologies,the study elucidates the multi-body coupling interaction mechanisms among the vehicle body,propulsion system,and cable system under various operational conditions.Focusing on these three core subsystems,an integrated technical approach combining numerical simulations with experimental validations has been implemented,encompassing systematic investigations in optimization design,coupling analysis,performance prediction,and simulation verification.The research ultimately develops an economical compact underwater operational system that satisfies marine engineering monitoring and inspection requirements while maintaining adaptability to target sea states.The principal research contents,methodologies,and achievements are summarized as follows:(1)A multi-objective design method based on multi-surrogate model prediction is proposed to address the challenges of large design space,high nonlinearity,and multiple requirements in an autonomous and remotely-operated vehicle’s hull design.The novel vehicle concept differs from traditional underwater vehicles in its application conditions and functional requirements,where a fluid hull design with lower response to nearshore environmental loads and disturbances proves beneficial for overall performance enhancement.A global surrogate model is constructed through artificial neural networks integrated with genetic algorithms accompanied by design domain screening based on the Minimum Prediction Factor criterion.Within the refined design domain,a regression Kriging surrogate model is implemented for performance prediction,combined with the NSGA-Ⅱ algorithm to achieve Pareto optimization of hydrodynamic characteristics under multi-environmental loading conditions.Extensive numerical simulations and experimental validations demonstrate that this methodology enables cost-effective acquisition of optimal hydrodynamic configurations exhibiting superior comprehensive performance.(2)To address the issue of flow field coupling effects on the propulsion system of cable-connected autonomous and remotely-operated underwater vehicles,this study conducts a systematic analysis and investigation on the propulsion system layout design through numerical simulation methods,with a focus on performance prediction,efficiency,and design.During the operation of the propulsion system,complex fluid coupling interactions with the surrounding flow field occur,which exacerbate the nonlinearity of the system output.This situation is particularly pronounced in small-scale underwater operating systems in shallow coastal waters due to their unique operational modes.By employing dynamic reference frames and sliding mesh methods,a hydrodynamic analysis model is established that couples the vehicle body,cable forces,and propulsion system.Through variations in parameters such as arrangement distance,arrangement angle,and thruster operating conditions,the changes in thrust,torque,and body resistance under different propulsion system layouts in static water self-propulsion states were analyzed.This leads to the identification of different fluid coupling interaction modes and the coupling interaction laws between the vehicle and its propulsion system.Additionally,in conjunction with overall design requirements,a propulsion system layout scheme is derived that exhibits good predictive performance,strong disturbance resistance,high efficiency,and stable hydrodynamic performance.(3)For the force-motion coupling problem of underwater vehicle body-propulsion system-cable systems under shallow water environmental loads,a hydrodynamic model incorporating spatiotemporal coupling relationships is established.By analyzing the evolution patterns of cable tension and configuration under wave loading,a dynamic coupling analysis model for the vehicle body-propulsion system-cable interaction is developed.Systematic investigations are conducted on the kinematic characteristics of cable-connected autonomous and remotely-operated vehicle systems under varying operational depths,velocities,and navigation directions.Based on motion characteristic analysis,an adaptive incremental PID control strategy with dynamic compensation mechanism is proposed.This strategy effectively suppresses longitudinal velocity fluctuations below 3%of target speed while achieving decoupling from pitch and heave motions,significantly enhancing operational stability in complex marine conditions.(4)To address the challenges in the design of shallow-water special underwater vehicles,including strong subsystem interactions,ambiguous overall performance optimization pathways,and complex structure-performance coupling mechanisms,this study proposes an integrated design methodology.The approach is established upon a full-lifecycle systems engineering design framework encompassing requirement analysis,functional definition,conceptual design,collaborative optimization design,and dynamic validation.By integrating key technologies such as environment-adaptive shape optimization,propulsion system coupling effect analysis,hydrodynamic analysis models for hull-propulsion system-cable interactions,and adaptive control strategies,this methodology effectively addresses the shortcomings of conventional modular design methods in subsystem interaction evaluation and global performance optimization.The developed solution provides a valuable reference framework for the research and development of specialized underwater equipment.更多还原