自主水下机器人强制自航下潜的类物理模拟

doi:10.16183/j.cnki.jsjtu.2019.191

上海交通大学学报 ›› 2021, Vol. 55 ›› Issue (3): 290-296.doi: 10.16183/j.cnki.jsjtu.2019.191

所属专题：《上海交通大学学报》2021年12期专题汇总专辑；《上海交通大学学报》2021年“交通运输工程”专题

自主水下机器人强制自航下潜的类物理模拟

吴利红¹^,², 封锡盛²(), 叶作霖¹, 李一平²

^1.大连海事大学　船舶与海洋工程学院，辽宁　大连　116026
^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，沈阳　110016

收稿日期:2019-06-30 出版日期:2021-03-01 发布日期:2021-04-02
通讯作者: 封锡盛 E-mail:fengxsh@mail.cae.ac.cn
作者简介:吴利红(1978-)，女，江西省上饶市人，副教授，研究方向为水下机器人．
基金资助:
国家重点研发计划课题(2017YFC0305901);广东省重点领域研发计划项目(2020B1111010004);辽宁省自然基金资助计划项目(2020-KF-12-05)

Physics-Based Simulation of AUV Forced Diving by Self-Propulsion

WU Lihong¹^,², FENG Xisheng²(), YE Zuolin¹, LI Yiping²

^1.College of Naval Architecture and Ocean Engineering, Dalian Maritime University, Dalian 116026, Liaoning, China
^2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China

Received:2019-06-30 Online:2021-03-01 Published:2021-04-02
Contact: FENG Xisheng E-mail:fengxsh@mail.cae.ac.cn

摘要/Abstract

摘要：

为提高自主水下机器人(AUV)下潜的安全性和稳定性，需对AUV自航下潜操纵运动进行精确预报．为此提出建立载体全物理模型，模拟螺旋桨运动，编写用户自定义函数(UDF)，求解雷诺平均N-S方程，实时预报载体强制自航下潜运动受力和流动特性的类物理数值模拟方法．该方法采用多块混合网格和动区域法，能提高动网格数值模拟的精度和计算效率．数值方法通过AUV自航试验的速度对比进行了验证．将该方法应用于AUV强制自航下潜模拟，结果表明：初始启动时，载体加速度较大，将导致AUV有较大纵向和垂向阻尼；在载体纵倾变化过程中，载体垂向力幅值较大且振荡，螺旋桨尾迹有扭转趋势，螺旋桨推力变化；在载体定向直航下潜中，螺旋桨推力和载体阻力较为稳定．

关键词: 自主水下机器人(AUV), 螺旋桨, 动网格, 潜伏运动, 类物理数值模拟, 自航

Abstract:

It is necessary to predict accurately the maneuverability of autonomous underwater vehicle (AUV) diving by self-propulsion to improve its safety and stability. A method was presented to predict the vehicle’s forces and flow details in real time during forced diving motion. A full appended model was built, the propeller’s rotating motion was simulated, and coupled with user defined function (UDF), the Reynolds-averaged Navier-Stokes (RANS) equations were solved. This method can improve the accuracy and computation efficiency of the dynamic mesh method by using multi-block mesh with the moving zone method. The numerical method was validated by comparison of the computational and experimental results of AUV’s velocity in AUV self-propulsion test. The numerical results of AUV forced diving by self-propulsion showed that, at the initial time, the AUV had a large acceleration which resulted in a large resistance. When the pitch changed, the vertical force oscillated. The wake of the propeller twisted and the thrust of the propeller varied. In steady diving, the thrust and resistance became steady.

Key words: autonomous underwater vehicle (AUV), propeller, dynamic mesh, diving or rising motion, physics-based simulation, self-propulsion

中图分类号:

U661.33

吴利红, 封锡盛, 叶作霖, 李一平. 自主水下机器人强制自航下潜的类物理模拟[J]. 上海交通大学学报, 2021, 55(3): 290-296.

WU Lihong, FENG Xisheng, YE Zuolin, LI Yiping. Physics-Based Simulation of AUV Forced Diving by Self-Propulsion[J]. Journal of Shanghai Jiao Tong University, 2021, 55(3): 290-296.

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区域	网格总数	网格类型	随AUV纵倾/移动	随螺旋桨旋转	区域	网格总数	网格类型	随AUV纵倾/移动	随螺旋桨旋转
AUV和舵翼	269 320	六面体	是/是	否	S1，S2	140 184	六面体	否/是	否
螺旋桨	652 586	四面体	是/是	是	S3，S4	23 328	六面体	否/否	否
C	510 324	四面体	否/是	否	S5，S6	96 120	六面体	否/否	否
L，R	175 032	六面体	否/是	否	总计	1 866 894

自主水下机器人强制自航下潜的类物理模拟

Physics-Based Simulation of AUV Forced Diving by Self-Propulsion

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