SIA OpenIR  > 海洋信息技术装备中心
基于随体坐标系的水下机器人水动力数值计算方法
Alternative TitleNumerical calculation methods for hydrodynamics of unmanned underwater vehicles based on body-fixed coordinate frames
胡志强; 衣瑞文; 林扬; 谷海涛; 王超
Department海洋信息技术装备中心
Source Publication科学通报
ISSN0023-074X
2013
Volume58Issue:S2Pages:55-66
Contribution Rank1
Funding Organization国家自然科学基金(51209193);中国科学院科技创新重点部署项目(KGFZD-125-014);国家高技术研究发展计划(2011AA09A102)资助
Keyword水下机器人 计算流体动力学 水动力 数值计算 附加质量 附加动量源
Abstract针对水下机器人水动力数值计算问题,提出了基于静态网格的随体坐标系附加动量源计算方法.首先推导了N-S方程在随体坐标系中的表达式,从理论上证明了采用附加动量源方法可以实现对水下机器人各种定常、非定常运动进行基于静态网格的水动力数值计算,通过对SUBOFF标准潜艇模型以及4500米级AUV进行黏性类水动力计算并与试验结果进行比对,验证了该计算方法在黏性类水动力计算中的可行性.通过对椭球体进行惯性类水动力(附加质量)计算并与理论值进行比对,验证了该方法在惯性类水动力计算中的可行性.本文所提方法可避免采用动网格、重叠网格模拟非定常运动带来的耗时较长、收敛性不佳等问题.
Other AbstractFor the problem of numerical calculation hydrodynamics of unmanned underwater vehicles (UUVs), this paper presents a method based on static meshes and added momentum sources in a body-fixed coordinate frame. First, by deriving the N-S equations in a body-fixed frame, it is proved that added momentum methods can be used to simulate steady motion and unsteady motion of UUVs on the basis of static meshes. To validate the feasibility of the method for viscous hydrodynamics calculation, the SUBOFF standard submarine model and a 4500 m AUV model are used and compared with tank test results. And, to validate the feasibility of the method for inertial hydrodynamics calculation, the added masses of an ellipsoid are computed and compared with theorical values. The comparison showes that the proposed method can meet the hydrodynamic force computing well, and the method can avoid those problems such as long time comsuming, bad convergency, which usually caused by dynamic mesh methods or overset mesh methods.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/14617
Collection海洋信息技术装备中心
Affiliation1.中国科学院沈阳自动化研究所,机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
胡志强,衣瑞文,林扬,等. 基于随体坐标系的水下机器人水动力数值计算方法[J]. 科学通报,2013,58(S2):55-66.
APA 胡志强,衣瑞文,林扬,谷海涛,&王超.(2013).基于随体坐标系的水下机器人水动力数值计算方法.科学通报,58(S2),55-66.
MLA 胡志强,et al."基于随体坐标系的水下机器人水动力数值计算方法".科学通报 58.S2(2013):55-66.
Files in This Item: Download All
File Name/Size DocType Version Access License
基于随体坐标系的水下机器人水动力数值计算(2174KB) 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[胡志强]'s Articles
[衣瑞文]'s Articles
[林扬]'s Articles
Baidu academic
Similar articles in Baidu academic
[胡志强]'s Articles
[衣瑞文]'s Articles
[林扬]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[胡志强]'s Articles
[衣瑞文]'s Articles
[林扬]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 基于随体坐标系的水下机器人水动力数值计算方法.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.