SIA OpenIR  > 水下机器人研究室
AUV自航对接的类物理数值模拟
Alternative TitlePhysics-based modeling AUV docking by self-propulsion
吴利红1,2; 王诗文1; 封锡盛2; 李一平2; 刘开周2
Department水下机器人研究室
Source Publication北京航空航天大学学报
ISSN1001-5965
2020
Pages1-11
Contribution Rank1
Funding Organization国家重点研发计划课题(2017YFC0305901) ; 机器人学国家重点实验室开放课题资助项目(2016-O04) ; 中央高校基本科研业务费专项资金资助(3132017030)
KeywordAUV 水下对接 类物理数值模拟 动网格 自航
Abstract

为了预报dock对AUV(自主水下机器人)水动力性能的影响,提高AUV水下对接成功率,提出一种多块混合网格结合动态层方法和UDF(用户自定义函数)函数的方法,应用于基于离散螺旋桨的AUV自航对接的类物理数值模拟。该方法采用移动子区域代替传统的移动边界,可提高数值计算效率。在验证了AUV自航试验速度的基础上,对AUV自航对接的水动力和流场进行分析。结果表明,AUV在螺旋桨定转速300RPM推进作用下,自航对接时间约16s,终端速度为0.75m/s。对接速度满足对接碰撞需求。dock对AUV运动影响:在对接井口B点之前起阻碍作用,在B点之后起吸附作用。AUV对接阻力增加2.4%,增幅小,可实现与dock对接。

Other Abstract

It is necessary to predict the hydrodynamic performance of AUV (Autonomous Underwater Vehicle) underwater docking accurately to improve the success. A method of multi-block hybrid grids combined with a dynamic layer method and UDF (User Defined Function) was presented, which was applied to the physics-based simulation of AUV underwater docking by self-propulsion with a discretized propeller. In this method, subdomain-moving substitutes for boundary-moving used in traditional dynamic mesh, which could improve the calculation efficiency. After the numerical validation of the velocity history of AUV self-propulsion against the experimental results, the hydrodynamic performance and flow field of AUV underwater docking were investigated. The results demonstrate that the time of AUV underwater docking from stationary by a constant rotating propeller of 300 RPM (Revolutions Per Minute) is about 16s. The end velocity reaches 0.75m/s, which meets the demand for collision. The effect from the dock on AUV locates on the neck point B. There is a drag on AUV before B, followed a suction after B. The increment of resistance is small with a value of 2.4%. AUV can reach the dock.

Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26028
Collection水下机器人研究室
Corresponding Author吴利红
Affiliation1.船舶与海洋工程学院大连海事大学
2.机器人学国家重点实验室中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
吴利红,王诗文,封锡盛,等. AUV自航对接的类物理数值模拟[J]. 北京航空航天大学学报,2020:1-11.
APA 吴利红,王诗文,封锡盛,李一平,&刘开周.(2020).AUV自航对接的类物理数值模拟.北京航空航天大学学报,1-11.
MLA 吴利红,et al."AUV自航对接的类物理数值模拟".北京航空航天大学学报 (2020):1-11.
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