基于数值方法的AUV近水面运动特性研究  

Research on the motion characteristics of AUV near water surface based on numerical method

作　　者：王旭辉 林扬[2,3] 王定前 孟令帅 高浩[2,3] 曹新星 谷海涛[2,3] WANG Xu-hui;LIN Yang;WANG Ding-qian;MENG Ling-shuai;GAO Hao;CAO Xin-xing;GU Hai-tao(School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110819,China;Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110169,China;Institute of Robotics and Intelligent Manufacturing Innovation,Chinese Academy of Sciences,Shenyang 110169,China;No.32033 Unit of PLA,Haikou 570000,China)

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819 [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,辽宁沈阳110016 [3]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [4]中国人民解放军32033部队,海南海口570000

出　　处：《舰船科学技术》2023年第10期85-90,共6页Ship Science and Technology

基　　金：中国科学院前沿基础研究项目(QYJC201913)。

摘　　要：为了明确水面回收AUV过程中其自身运动特性,以数值方法作为主要工具,通过控制变量法分析自由液面对AUV运动的影响。建立AUV的近水面运动方程,通过数值模拟PMM,得到AUV近水面运动方程所需的全部水动力系数。最后,通过基于运动方程和CFD方法的水面直航轨迹交叉对比,对所求得AUV近水面运动方程的准确性进行了验证。结果表明,所求得的AUV近水面运动方程准确性良好,可为AUV水面回收过程中的运动控制提供参考。In order to clarify the motion characteristics of an AUV in the process of water surface recovery,firstly,using numerical methods as the main tool,the influence of free liquid on AUV motion was analyzed by the method of controlling variables.Secondly,the motion equation of the AUV near the water surface was established.Thirdly,through numerical simulation of PMM,all the hydrodynamic coefficients required for the AUV near-water motion equation were obtained.Finally,the accuracy of the obtained AUV near-water motion equation was verified by the cross-comparison of the water surface straight trajectory based on the motion equation and the CFD method.The results show that the obtained AUV motion equation near the water surface has good accuracy,which can provide a reference for the motion control and other follow-up work in the AUV water surface recovery process.

关 键 词：自主式水下机器人 数值方法 运动特性 

分 类 号：TB126[理学—工程力学] TH113.2[理学—力学]