摘要
通过对通用流体动力学仿真软件CFX的研究,提出了一套水下机器人粘性类水动力的数值计算方法.该方法采用标准k-ε湍流模型计算位置力系数,采用标准k-ω湍流模型计算旋转力系数及其它耦合水动力系数.对“CR-02”6000 m自治水下机器人的计算表明,通过这种方法获得的水动力系数具有较高的精度,可以满足水下机器人方案设计阶段的操纵性设计、运动预报和仿真等需求.
Based on a general-purpose fluid dynamical simulation software CFX, a numerical method is brought up to cal- culate viscous hydrodynamics of Unmanned Underwater Vehicles （UUVs）. In this method, a standard k-ε turbulence model is adopted to compute positional hydrodynamic coefficients, and a standard k-ω turbulence model is used to compute rotational and other coupling coefficients. Computational results of ＂CR-02＂ 6000 m Autonomous Underwater Vehicle （AUV） show that hydrodynamic coefficients obtained with this method is of high presicion. This method can satisfy the requirements of maneuverability design, motion prediction and simulation during UUV＇s scheme design period.
出处
《机器人》
EI
CSCD
北大核心
2007年第2期145-150,共6页
Robot
