自主水下机器人下潜困难问题的数值仿真与试验研究(英文)  

Numerical and Experimental Investigation of the Problem of Diving Difficulty of Autonomous Underwater Vehicle

作　　者：张宏伟[1] 李金翠[1] 王延辉[1] 王树新[1] 郝亮[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《船舶力学》2016年第3期277-287,共11页Journal of Ship Mechanics

基　　金：Supported by the Dynamical Behaviors and Control of the Propeller Driven Hybrid Underwater Glider with Controllable Wings(Grant no.51475319);the National Hi-tech Research and Development of China(Grant no.2012AA091001)

摘　　要：自主水下机器人在近水面运动时,受到文丘里效应产生向上吸力的影响,使得潜器初始下潜困难,近水面的深度保持能力也受到影响。为了研究水下潜器近水面下潜困难问题,文章运用计算流体力学(CFD)软件对某AUV主体周围流场进行近水面数值模拟。模拟结果表明,影响升力和抬头力矩的主要因素是初始的下潜深度和速度。水域试验表明随着初始下潜深度的增加,AUV的下潜将变得越来越容易,这与模拟结果相一致。When an Autonomous Underwater Vehicle dives near free surface, it is influenced by upward suction force, as a function of Venturi effect, which makes it difficult for the underwater vehicle to dive and maintain a constant depth. In order to research the above problem, this paper simulates the flow field around the bare hull of an Autonomous Underwater Vehicle（AUV） near free surface, using Computational Fluid Dynamic（CFD） tools. Simulation result shows that the main factors affecting lift and nose up pitch moment acting on the vehicle are initial diving depth and velocity.Field test shows that the vehicle dives more easily with the initial diving depth increases, which is consistent with numerical simulation.

关 键 词：下潜困难 文丘里效应 近水面 自主水下机器人 CFD 

分 类 号：U661.3[交通运输工程—船舶及航道工程]