AUV自航对接的类物理数值模拟  

Physics-based numerical simulation of AUV docking by self-propulsion

作　　者：吴利红 王诗文[1] 封锡盛 李一平[2] 刘开周[2] WU Lihong;WANG Shiwen;FENG Xisheng;LI Yiping;LIU Kaizhou(College of Shipbuilding and Ocean Engineering,Dalian Maritime University,Dalian 116026,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China)

机构地区：[1]大连海事大学船舶与海洋工程学院,大连116026 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016

出　　处：《北京航空航天大学学报》2020年第4期683-690,共8页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家重点研发计划(2017YFC0305901);机器人学国家重点实验室开放课题(2016-O04);中央高校基本科研业务费专项资金(3132017030).

摘　　要：为了预报dock对自主水下机器人(AUV)水动力性能的影响,提高AUV水下对接成功率,提出一种多块混合网格结合动态层方法和用户自定义函数(UDF)的方法,应用于基于离散螺旋桨的AUV自航对接的类物理数值模拟。所提方法采用移动子区域代替传统的移动边界,可提高数值计算效率。在验证了AUV自航试验速度的基础上,对AUV自航对接的水动力和流场进行分析。结果表明,AUV在螺旋桨定转速300 r/min推进作用下,自航对接时间约16 s,终端速度为0.75 m/s。对接速度满足对接碰撞需求。dock对AUV运动影响:在对接井口B点之前起阻碍作用,在B点之后起吸附作用。AUV对接阻力增加2.4%,增幅小,可实现与dock对接。To predict the effect of dock on hydrodynamic performance of autonomous underwater vehicle(AUV) and to improve AUV underwater docking success rate, a method of multi-block hybrid grids combined with dynamic layer method and user defined function(UDF) was presented, which was applied to the physics-based numerical simulation of AUV underwater docking by self-propulsion with a discretized propeller. In this method, subdomain-moving substitutes for boundary-moving used in traditional dynamic mesh, which could improve the calculation efficiency. After the numerical validation of the velocity history of AUV self-propulsion against the experimental results, the hydrodynamic performance and flow field of AUV underwater docking were investigated. The results demonstrate that the time of AUV underwater docking from rest by a constant rotating propeller of 300 r/min is about 16 s. The end velocity reaches 0.75 m/s, which meets the demand for collision. The effect of the dock on AUV locates on the neck point B. There is a drag on AUV before B, followed by a suction after B. The increment of resistance is small with a value of 2.4%. Therefore, it is achievable for AUV docking with the dock.

关 键 词：自主水下机器人(AUV) 水下对接 类物理数值模拟 动网格 自航 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]