上海交通大学学报

上海交通大学学报 ›› 2019, Vol. 53 ›› Issue (12): 1395-1403.doi: 10.16183/j.cnki.jsjtu.2019.12.001

• 学报（中文） •    下一篇

回转体潜器在循环水槽中垂直面大攻角操纵性试验

梁笑阳a,马宁b,c,刘晗b,c,顾解忡b,c   

  1. 上海交通大学 a. 船舶海洋与建筑工程学院； b. 海洋工程国家重点实验室； c. 高新船舶与深海开发协同创新中心， 上海 200240
  • 发布日期:2020-01-06
  • 通讯作者: 马宁，男，教授，博士生导师，E-mail：ningma@sjtu.edu.cn.
  • 作者简介:梁笑阳(1990-)，女，河南省洛阳市人，博士生，研究方向为带缆水下机器人水动力性能及运动控制.
  • 基金资助:
    国家重点基础研究发展规划(973)项目(2014CB046804)

Test on Maneuverability in the Vertical Plane of a Revolution Submersible at Large Attack Angle in Circulating Water Channel

LIANG Xiaoyang a,MA Ning b,c,LIU Han b,c,GU Xiechong b,c   

  1. a. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University; b. State Key Laboratory of Ocean Engineering; c. Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai 200240, China
  • Published:2020-01-06

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摘要： 以半尺寸SUBOFF潜器模型为研究对象，在循环水槽中利用平面运动机构完成包含不确定度分析的模型垂直面静态操纵性试验研究.测试内容包括：潜器在±60° 攻角内、流速在10～12m/s间的纵向力、垂向力及纵倾力矩.根据试验结果利用分段函数归纳了潜器垂直面操纵运动的数学模型，并应用最小二乘法拟合操纵性方程中的各项水动力系数.试验结果表明：测得无因次水动力的总不确定度较小，试验方法切实可靠；试验垂向力与纵倾力矩的无因次值随攻角值的增加而增大，纵倾力矩的无因次值在攻角超过±25° 范围的非线性与非对称性十分明显；分段函数更适用于描述大攻角工况下的潜器垂直面操纵运动.

关键词: SUBOFF潜器模型； 循环水槽； 操纵性； 大攻角； 水动力数学模型

Abstract: A series of static tests on a 1/2 scaled standard fully appended SUBOFF model are carried out by the planar motion mechanism(PMM) in the circulating water channel (CWC)，by which the maneuverability in the vertical plane is studied including the uncertainty analysis. The horizontal force, the vertical force and the trim moment of the submersible model are measured under several angles of attack (ranging from -60° to 60°) and flow rates (ranging from 10m/s to 12m/s). The mathematical model of maneuverability motion in the vertical plane of the submersible is derived by piecewise function based on the results. The dimensionless hydrodynamic coefficients in the motion equation are analyzed with the least-square method. The results show that the total uncertainty of the measured dimensionless hydrodynamic forces and moment is small to illustrate the validity of the testing method. The dimensionless values of the vertical forces and the trim moment increase with the angle of attack increasing. There are obviously asymmetric and nonlinear characteristics in the dimensionless hydrodynamic forces and moment as the angle of attack is beyond the range of -25° to 25°. Piecewise function is more applicable for describing maneuverability motion in the vertical plane of the submersible under large angle of attack.

Key words: SUBOFF submersible model; circulating water channel; maneuverability; large attack angle; hydrodynamic coefficients mathematical model

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