开架式水下清洗机器人与全尺寸FPSO水动力相互作用数值研究

doi:10.1007/s12204-024-2698-z

摘要/Abstract

摘要： 现有关船体对水下机器人水动力特性影响研究多将船体视为无限大平面，较少关注船体形状影响。本文采用URANS（unsteady Reynolds-Averaged Navier-Stokes）求解器，研究已实现商用的开架式水下清洗机器人（open-frame underwater cleaning robot, OFUCR）与全尺寸浮式生产储油船（Floating Production Storage and Offloading，FPSO）平行中体段间的水动力相互作用。计算结果通过已发表结果进行验证。其中，OFUCR以1 kn速度运动，并与船体保持0.1 m的间距。计算了OFUCR的阻力、侧向力以及受FPSO干扰产生的斥力，并给出了OFUCR与FPSO间隙的动压、速度和涡强分布。研究了纵向和横向水流的影响。在FPSO的干扰下受壁面切应力和动压差影响，OFUCR阻力明显增大。当OFUCR沿船底运动时侧向力为斥力，沿舭部和侧边运动时为吸力。

关键词: 开架式水下清洗机器人, 水动力相互作用, 阻力, 流场结构, 浮式生产储油船

Abstract: Most of the published work related to the influence of ship hulls on hydrodynamic characteristics of underwater robots takes ship hulls as nearly infinite planes, paying less attention to the effect of hull shape. Thus using an unsteady Reynolds-averaged Navier-Stokes solver, this work investigates hydrodynamic interactions between an open-frame underwater cleaning robot (OFUCR), which is put into commercial use, and the parallel middle body of a real full-scale floating production storage and offloading (FPSO) with round bilge. Calculated results are validated by some published results. In simulation, the OFUCR moves at a speed of 1 kn, and keeps 0.1m away from the hull. Drag and lateral forces of OFUCR, and repulsive force due to the interference of FPSO are calculated. Further, dynamic pressure, velocity and vorticity in the gap between OFUCR and FPSO are drawn. The influence of longitudinal and lateral currents is concerned. As a result, drag obviously increases with the presence of FPSO owing to the wall shear stress and drop of dynamic pressure. Lateral force is found to be a repulsion force as OFUCR moves along ship bottom, and an attraction force as OFUCR moves along ship bilge and ship side.

中图分类号:

U66
TP242

. 开架式水下清洗机器人与全尺寸FPSO水动力相互作用数值研究[J]. J Shanghai Jiaotong Univ Sci, 2026, 31(2): 405-419.

Zhang Meng, Sun Lianghui, Xu Weidong, Yao Yixin, Zhang Xiaohui. Numerical Investigation into Hydrodynamic Interactions Between an Open-Frame Underwater Cleaning Robot and a Full-Scale Floating Production Storage and Offloading[J]. J Shanghai Jiaotong Univ Sci, 2026, 31(2): 405-419.

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