水下球形机器人环形射流推进系统水力特性数值模拟  

Numerical Simulation of Hydraulic Characteristics in Annular Jet Propulsion System for Underwater Spherical Robot

作　　者：陈誉 柯晓宇 周如瑞 万晓杰 郭锦涛 李晓晖[1] CHEN Yu;KE Xiaoyu;ZHOU Rurui;WAN Xiaojie;GUO Jintao;LI Xiaohui(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China;School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China;Standard&Quality Control Research Institute,Ministry of Water Resources,Hangzhou 310024,China)

机构地区：[1]南京工程学院机械工程学院,江苏南京211167 [2]燕山大学机械工程学院,河北秦皇岛066004 [3]水利部产品质量标准研究所,浙江杭州310024

出　　处：《南京工程学院学报(自然科学版)》2024年第3期1-10,共10页Journal of Nanjing Institute of Technology(Natural Science Edition)

基　　金：教育部人文社会科学研究项目(21YJAZH043);河北省高层次人才项目(B2022003022);南京工程学院高层次引进人才科研启动基金资助项目(YKJ202131)。

摘　　要：针对海洋作业螺旋桨推进器机动性差、转弯半径大等问题,根据球形机器人内部推进系统环形管道布置需求,采用计算流体力学方法对由进口管段、环形管道和多喷嘴组成的环形射流系统进行三维动态数值模拟,探究喷嘴和进口管段与环形管道的不同连接方式、进口管段的不同布置形式对射流速度和系统内流场的影响;基于不同喷嘴射流组合,采用动态边界条件探究喷嘴出口速度变化,对比分析进口管段对称和非对称布置下射流速度灵敏度.研究表明:喷嘴和进口管段与环形管圆弧连接时,单喷嘴出口平稳速度高达59 m/s,略大于垂直连接情况;进口管段对称布置时,射流系统内流场较光顺平滑,各喷嘴平稳速度之间具有较好一致性,对称与非对称布置形式不影响喷嘴射流灵敏度.In addressing the challenges of inadequate maneuverability and extensive turning radius associated with marine operational propeller thrusters,in accordance with the spatial requirements dictated by the internal propulsion system s annular pipeline within a spherical robot,computational fluid dynamics methodologies were employed to perform three-dimensional dynamic numerical simulations of an annular jet system comprising an inlet pipe segment,an annular pipeline and multiple nozzles.This investigation delves into the ramifications of various connection configurations between the nozzles and inlet pipe segment relative to the annular pipeline,as well as diverse arrangements of the inlet pipe segment on both jet velocity and flow field characteristics within the system.Leveraging distinct combinations of nozzle jets,dynamic boundary conditions were employed to explore variations in outlet velocity at the nozzle exit.A comparative analysis was conducted to assess sensitivity in jet velocity under both symmetric and asymmetric configurations of the inlet pipe segment.The results reveal that when connecting the nozzle and inlet pipe segment to a circular arc section of the annular pipeline,a solitary nozzle can achieve a stable outlet speed reaching up to 59 m/s,which is slightly surpassing than that observed with vertical connections.Furthermore,under symmetrical arrangements,it is noted that the flow field within the jet system exhibits remarkable smoothness and consistency among stable velocities across all nozzles;it is found that neither symmetric nor asymmetric layouts significantly affect sensitivity within nozzle jet field.

关 键 词：射流推进 数值模拟 管道优化 灵敏度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]