多水下机器人自航纵向编队的操纵运动数值模拟  

Maneuvering simulation of multi-AUV self-propulsion in tandem

作　　者：吴利红 黄晴[1] 王诗文 封锡盛 李一平[2] 李硕[2] WU Lihong;HUANG Qing;WANG Shiwen;FENG Xisheng;LI Yiping;LI Shuo(College of Naval Architecture 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,辽宁大连116026 [2]中国科学院沈阳自动化研究所,辽宁沈阳110016

出　　处：《哈尔滨工程大学学报》2022年第1期1-8,共8页Journal of Harbin Engineering University

基　　金：国家重点研发计划(2017YFC0305901);广东省重点领域研发计划项目(202019121120900010);辽宁省自然科学基金项目(2020-KF-12-05).

摘　　要：针对现有的多水下机器人编队的水动力性能分析仅限无桨模型、定常航行的现象,无法解决真实编队螺旋桨滑流对水下机器人运动影响问题,本文提出采用离散螺旋桨的类物理数值方法,对多水下机器人自航编队的非定常操纵运动进行模拟。相对于无桨拖曳编队的领航者对追随者的吸力作用,自航编队表现出不同的相互作用:领航者对追随者有斥力作用,导致追随者阻力增加、速度降低、能耗增加、编队间距增加;此外,领航者的滑流会引起追随者产生周期性,时变的横滚力矩。该方法可用于分析多体耦合流场干扰,提高多体协同作业的安全性和能源预报精度。Owing to the limitation to the phenomenon of model without propeller,and steady cruising for the hydrodynamic performance of AUVs in tandem,this paper presented unsteady maneuvering simulation of AUV self-propulsion in tandem using discretized propeller in a physics-based method.In the non-propeller towed AUV in tandem,an attraction force was produced from the leader AUV to the follower AUV.In comparison,the AUVs self-propulsion in tandem showed different results:1)a repulsion force was produced from the leader AUV for the follower AUV,which increased the drag force,deceased the velocity,and increased the power consumption of the follower AUV.The spacing between the two AUVs increased.Furthermore,a temporal roll moment with oscillation in periods was also observed on the follower AUV.The method used in this paper helped to obtain the knowledge of flow interference between multi-AUVs to ensure the safety and predict accurately the energy during cooperation.

关 键 词：自主水下机器人 编队 自航 螺旋桨 类物理数值模拟 多体 计算流体力学 操纵运动 

分 类 号：U611.33[交通运输工程—船舶及航道工程]