深海运载器无动力下潜姿态稳定性研究  

Research on attitude stability of deep-sea vehicle in unpowered diving

作　　者：邢林 谷海涛[1,2] 孟令帅[1,2] 高浩[1,2] 冯萌萌 郎继超[1,2,3] 王正伟 XING Lin;GU Haitao;MENG Lingshuai;GAO Hao;FENG Mengmeng;LANG Jichao;WANG Zhengwei(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]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 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]中国科学院大学,北京100049

出　　处：《舰船科学技术》2024年第22期110-117,共8页Ship Science and Technology

基　　金：十三五预研项目(2020107/2002);中国科学院基础研究计划资助项目(E3290904);国家重点研发计划资助项目(2022YFB3808805)。

摘　　要：大型深海运载器保持水平姿态无动力自由下潜过程中会产生横滚现象,影响后续运载器深海着陆坐底,为探究不改变运载器外形的条件下净浮力、稳心高和初始横滚角等可变参数对运载器下潜姿态的影响,使用基于二次本构关系(Quadratic Constitutive Relation,QCR)的SST k-omega方法,对深海运载器无动力下潜运动姿态进行计算。结果表明,在外形确定的情况下净浮力与稳心高会影响横滚角幅值与下潜速度,初始横滚角仅在下潜初期2个周期内有影响,不影响运载器横滚角幅值。并根据仿真结果拟合出横滚角幅值小于5°的净浮力与稳心高可选区域,以指导运载器与着陆器设计。In the process of free diving without power,a large deep-sea vehicle maintaining a horizontal attitude will produce a rolling phenomenon,which will affect the subsequent deep-sea landing of the vehicle on the bottom.In order to explore the influence of variable parameters such as net buoyancy,metacentric height and initial roll Angle on the submerged attitude of the vehicle without changing the shape of the vehicle,SST k-omega method based on Quadratic Constitutive Relation(QCR)was used to calculate the unpowered diving posture of a deep-sea vehicle.The results show that:The net buoyancy and metacentric height will affect the roll Angle amplitude and diving speed when the shape is determined,and the initial roll Angle only affects the initial 2 cycles of diving,but does not affect the roll Angle amplitude of the vehicle.According to the simulation results,the optional regions of net buoyancy and metacentric height with roll Angle amplitude less than 5°are fitted to guide the design of vehicle and lander.

关 键 词：深海运载器 钝体绕流 二次本构关系 无动力下潜 姿态稳定性 

分 类 号：U674.941[交通运输工程—船舶及航道工程]