【作者】 宋立军；

【导师】 张宏伟； 任翀；

【作者基本信息】 天津大学 ， 机械工程， 2020， 硕士

【摘要】 水下航行器在海洋资源勘探和海洋环境调查等领域发挥的作用越来越重要。传统中性浮力水下航行器搭载能力受空间和排水量的限制,难以满足日益增长的任务传感器搭载需求。传统的中性浮力水下航行器需要针对不同传感器体量和结构特征,重新进行搭载结构设计与整体配平,大大增加了传感器集成工作量。研制新型负浮力大载荷水下航行器,利用水动力来平衡负浮力,是解决此问题的一种新思路。本文提出了一种新型负浮力自转旋翼水下航行器。该航行器仿照空气中旋翼机的原理,依靠自转旋翼产生的升力克服负浮力,实现在水下的有效航行。负浮力水下航行器搭载能力强、浮力材料用量少、体积小、阻力和能耗低。本文主要研究成果如下:1.提出负浮力自转旋翼水下航行器的概念,采用大尺寸的双叶旋翼产生升力,以平衡负浮力,实现航行运动。在航行过程中,调整桨盘后倾角度控制升力的大小和方向,以实现纵倾角度的操控。2.运用叶素理论对旋翼的旋转机理进行了理论分析与计算。在此基础上,设计和制造了旋翼缩比模型,并进行了 PIV水洞试验。试验证明旋翼在水流作用下,能够稳定旋转并产生升力,证明了水下潜器安装旋翼方案可行。另外对用于水下潜器的大尺寸旋翼进行了 CFD数值仿真,并拟合出旋翼拉力和后向力表达式,用于动力学建模。3.使用ANSYS对不同材料的旋翼进行了典型工况下的流固耦合计算仿真,对比了不同材质旋翼的挥舞变形量、等效应力、稳定旋转速度等物理量。由于被动旋转的旋翼转速较小,一般金属材料都能满足桨盘平面水动力分布不均引起的前行桨叶和后行桨叶挥舞变形的要求。4.建立了负浮力自转旋翼水下航行器空间六自由度动力学模型。基于简化后的动力学模型模拟了负浮力自转旋翼水下航行器动力学行为。5.采用小扰动方法推导出了自转旋翼水下航行器的纵向扰动方程和基本运动参数的传递函数。研究结果表明负浮力自转旋翼水下航行器具有较好的操纵性及纵向稳定性。更多还原

【Abstract】 Underwater vehicles play an increasingly important role in marine resources exploration and marine environment investigation.The carrying capacity of traditional neutral buoyancy underwater vehicle is limited by space and displacement,so it is difficult to meet the increasing demand of carrying mission sensors.The traditional neutral buoyancy underwater vehicle needs to carry out the structural design and overall balancing again according to the volume,weight and structural characteristics of different sensors,which greatly increases the workload of sensor integration.A new way to solve this problem is to develop a new type of large load underwater vehicle which uses hydrodynamic force to balance the negative buoyancy.This paper presents a new type of negative-buoyancy autorotating-rotor underwater vehicle(NAAUV).Referring to the principle of air autorotating rotor,the NAAUV adopts an autorotating rotor to provide lift and compensate for negative buoyancy,thus achieving effective navigation.Negative-buoyancy vehicles have the advantages of greater carrying capacity,less use of buoyancy materials,smaller size and weight,and lower resistance and energy consumption.The main achievements of this paper are as follows:1.A new concept of negative-buoyancy autorotating-rotor underwater vehicle is proposed.The large-scale double blade rotor is used to generate the lift to balance the negative buoyancy and realize the navigation movement.In the course of navigation,the pitch angle is adjusted to control the size and direction of lift,so as to achieve the control of pitch angle.2.The rotor rotation mechanism is analyzed and calculated by using the blade element theory.On this basis,the rotor scale model is designed and manufactured,and the PIV water tunnel experiment is carried out.Experiments show that the rotor can rotate stably and generate lift under the action of water flow,which proves that the scheme of installing rotor is feasible.In addition,the large-scale rotor used in the underwater vehicle is simulated by CFD,and the expressions of out rotor force and backward force are proposed for dynamic modeling.3.The fluid-structure interaction of rotor with different materials was carried out by using ANSYS.By comparing the important physical parameters such as swing deformation,equivalent stress and stable rotation speed of rotors made of different materials.Due to the small rotating speed of the rotor in passive rotation,the general metal materials can meet the requirements of the advancing blade and the rear blade waving deformation caused by the uneven plane hydrodynamic distribution of the rotor disk.4.A six degree of freedom dynamic model of a negative buoyancy gyroplane underwater vehicle is established.Based on the simplified dynamic model,the dynamic behavior of the underwater vehicle with negative buoyancy rotor is simulated.5.The small-perturbation method is used to derive the longitudinal disturbance equation and the transfer function of the basic motion parameters of the gyroplane underwater vehicle.The results show that NAAUV has good maneuverability and longitudinal stability.更多还原