【作者】 陈振纬； 黄晨晖； 张大海； 戴新柯； 吴晛； 黄豪彩； 陈鹰；

【Author】 CHEN Zhen-wei;HUANG Chen-hui;ZHANG Da-hai;DAI Xin-ke;WU Xian;HUANG Hao-cai;CHEN Ying;Ocean College,Zhejiang University;

【机构】 浙江大学海洋学院；

【摘要】 伴随着自主式水下航行器应用范围的扩大,现在对其自主性的要求也在不断提高。浙江大学自主研发的新型自主式水下直升机-AUH,其独特的碟型形状,目标是实现全周转向、定点悬停、精确着陆、自由起降的"四个任意"功能。本研究以该AUH为研究对象,利用CFD方法计算其水平运动、竖直运动及旋转状态下的水动力,并经过换算及数值拟合处理得到AUH水动力系数。通过Fluent中的UDF功能定义AUH匀加速运动,从而得到其附加质量系数。此外,由于AUH特殊的旋转体外形,我们对其旋转状态下受到的Kutta-Joukowsky力进行了计算分析,得到的不同运动状态下的水动力系数及其规律,将为其推进器的选用及控制器的设计提供依据,以及在其运动仿真中提供必要的参数。更多还原

【Abstract】 With the expansion of the scope of application of autonomous underwater vehicles,the requirements of its autonomy is also rising now.The new automatic underwater helicopter-AUH,which was independently created by Zhejiang University.With its unique dish shape,its goal is to achieve the whole week turn,fixed hover,accurate landing,free takeoff and landing "four arbitrary" function.In this paper,the AUH is used as the object of study,and the hydrodynamic force is calculated by CFD method under horizontal motion,vertical motion and in rotating state.The hydrodynamic coefficients of AUH are obtained by scaling and numerical fitting.The AUF uniform acceleration motion is defined by the UDF function in Fluent,resulting in its additional mass coefficient.In addition,due to the special shape of the AUH rotary body,we have calculated the Kutta-Joukowsky force in the rotational state of AUH.The hydrodynamic coefficients and their laws in different motion states will provide the basis for the selection of the propeller and the design of the controller,and provide the necessary parameters in its motion simulation.更多还原