【作者】 王波； 苏玉民； 于宪钊；

【Author】 WANG Bo SU Yu-min YU Xian-zhao (College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China)

【机构】 哈尔滨工程大学船舶工程学院；

【摘要】 水下机器人的空间运动受力复杂,具有耦合性和非线性等特点,本文以所设计的某水下机器人为研究对象,进行受力分析,建立其空间运动的数学模型。借助计算流体力学软件FLUENT计算了水下机器人在不同漂角和攻角下的粘性流体位置力,并采用动网格技术计算得到流体粘性旋转阻尼力,应用面元法计算了理想流体惯性力,在此基础上建立了水下机器人的运动仿真平台,对其在水平面和垂直面内的操纵运动进行了仿真计算,对水下机器人的操纵性设计和预报提供了重要参考。更多还原

【Abstract】 Forces acting on underwater vehicle(in short,UV)in spatial motion are very complex and have characteristics of coupling and nonlinearity.In this paper,dynamics of a designed UV was researched and the spatial motion mathematic model of the vehicle was established.With the CFD(computational fluid dynamics)computation software of FLUENT,the viscous lift and drag forces in different attack angles were computed.Then the viscous rotational damping forces were also computed by adapting the method of dynamic mesh.The inertial hydrodynamics of the vehicle was calculated by panel method.Based on above,a simulation platform was constructed.Some maneuvering motions in horizontal and vertical plane were simulated. The simulation results provide important references for the maneuverability design and forecasting of the UV.更多还原