【摘要】 针对研制的一种三推进器布局的欠驱动便携式ROV(Remotely Operated Vehicle)无法垂直定深这一问题,利用流体仿真软件Fluent中RNG k-ε湍流模型分析了其斜航定深过程中航速和俯仰角度对航行稳定性的影响。基于动网格技术和用户自定义函数(UDF)对不同定深航姿进行了模拟仿真并得到了相应的航行阻力、俯仰力矩及变化规律,出于稳定性的考虑,确定了便携式ROV斜航定深时的最佳航行姿态。并根据定深运动特性设计了双闭环模糊PID定深控制器,利用Matlab/simlink仿真软件结合流体分析结果进行仿真,仿真中模拟施加了不同工况下的干扰。结果表明,与传统PID控制器对比该控制器具有更好的控制性能。更多还原

【Abstract】 To solve the problem that the portable remotely operated vehicle with three propellers cannot dive vertically,the effects of speed and pitch angle on its stability were studied using the RNG k-ε flow model in the computational fluid dynamic mechanics. Based on the dynamic mesh technique and UDF method, numerical simulation for the different dive attitudes was performed and the navigational resistance and pitching moment were calculated. A double closed-loop fuzzy PID controller was proposed and the simulation combined with the fluid analysis results was performed by the Matlab/simlink.The simulation result demonstrated that the controller showed better control performance, compared with the traditional PID controller.更多还原