带缆水下机器人转首控制及水动力分析  

Analysis of Turning Motion and Hydrodynamic Performance of Tethered Underwater Robot

作　　者：许顺源 吴家鸣[1] 马承华 廖华 杨显原 XU Shunyuan;WU Jiaming;MA Chenghua;LIAO Hua;YANG Xianyuan(School of Civil Engineering and Transportation,South China University of Technology,Guangzhou 510640,China;Guangzhou Shunhai Shipyards Ltd.,Guangzhou 511440,China)

机构地区：[1]华南理工大学土木与交通学院,广州510640 [2]广州市顺海造船有限公司,广州511440

出　　处：《中国造船》2022年第2期126-136,共11页Shipbuilding of China

摘　　要：将缆绳模型与6自由度模型耦合,构建带缆水下机器人数学模型,并通过重叠网格和滑移网格技术模拟机器人的运动和导管螺旋桨的旋转运动。在不同海流作用下对受导管螺旋桨控制的带缆水下机器人转首运动、导管螺旋桨推力特性与海流速度的关系、缆绳受力和机器人水动力性能等进行了分析。数值模拟结果表明,在低海流速度下,带缆水下机器人在导管螺旋桨控制下能完成转首运动,导管螺旋桨的推力会受到海流速度和机器人姿态显著的影响;海流速度对机器人水动力载荷和缆绳的合力也有显著的影响。The catenary coupling model and six-degrees-freedom motion model are applied to establish a mathematical model for tethered underwater robot with ducted propellers. CFD method together with techniques of overlapping grid and sliding mesh is utilized to complete the numerical simulation. Influence of ocean current on the turning motion of the tethered robot, thrust of the ducted propeller and force on the cable is analyzed. Numerical results show that ducted propellers can control turning motion of the tethered robot effectively in the case of low velocity of ocean current. The yaw angle and angular velocity of the robot is depended on the ocean current. Performance of the ducted propeller is influenced by ocean current and position of the robot. Hydrodynamic performance of the tethered robot and force on the cable is greatly impacted by ocean current.

关 键 词：带缆水下机器人 导管螺旋桨 缆绳受力 水动力 运动控制 

分 类 号：U661.43[交通运输工程—船舶及航道工程]