摘要
利用Fluent提供的六自由度求解器,采用动网格技术,在水下机器人系统所处流域以计算流体力学方法求解其N-S方程,研究受海流影响下的水下机器人运动特性。数值计算结果表明:采用动网格技术进行六自由度运动模拟可以获得海流对水下机器人运动特性的影响;随着海流速度的增加,水下机器人运动的不稳定性逐渐增加,在运动后期会出现明显的偏航,且发生偏航的距离点随着海流速度的增加而提前;随着推力的增加,位移轨迹曲线的曲度逐渐减小,逐渐由曲线过渡为直线。
Based on the 6DOF solver provided by Fluent, using the dynamic grid technique to solved the N-S equation by computational fluid dynamics method in the basin where the underwater robot system is located, research the motion characteristics of underwater robot under the influence of current. The numerical results show that, using dynamic grid technique to the 6DOF motion simulation can obtain the influence of current on the motion characteristics of underwater robot. With the increase of current velocity, the instability of underwater robot movement increases gradually, and there will be obvious yaw in the later period of motion, the distance of yaw occurs with the increase of ocean velocity. With the increase of thrust,the curvature of the displacement trajectory curve decreases gradually, transition from curve to straight line gradually.
作者
吴家鸣
钟乐
张恩伟
王胜勇
WU Jia-ming;ZHONG Le;ZHANG En-wei;WANG Sheng-yong(School of Civil Engineering and Transportation, South China University of Technology, Guangzhou 510640, China)
出处
《舰船科学技术》
北大核心
2017年第12期20-25,共6页
Ship Science and Technology
基金
国家自然科学基金资助项目(11372112)
关键词
海流
水下机器人
六自由度
动网格
运动特性
currents
underwater robot
6DOF
dynamic mesh
movement characteristics
