北京航空航天大学学报 ›› 2020, Vol. 46 ›› Issue (4): 683-690.doi: 10.13700/j.bh.1001-5965.2019.0305

• 论文 • 上一篇    下一篇

AUV自航对接的类物理数值模拟

吴利红1,2, 王诗文1, 封锡盛2, 李一平2, 刘开周2   

  1. 1. 大连海事大学 船舶与海洋工程学院, 大连 116026;
    2. 中国科学院沈阳自动化研究所 机器人学国家重点实验室, 沈阳 110016
  • 收稿日期:2019-06-17 发布日期:2020-04-21
  • 通讯作者: 吴利红 E-mail:wlh@sia.cn
  • 作者简介:吴利红,女,博士,副教授。主要研究方向:水下机器人、水下对接、水动力学、螺旋桨;封锡盛,男,博士,研究员,中国工程院院士。主要研究方向:水下机器人总体技术等。
  • 基金资助:
    国家重点研发计划(2017YFC0305901);机器人学国家重点实验室开放课题(2016-O04);中央高校基本科研业务费专项资金(3132017030)

Physics-based numerical simulation of AUV docking by self-propulsion

WU Lihong1,2, WANG Shiwen1, FENG Xisheng2, LI Yiping2, LIU Kaizhou2   

  1. 1. College of Shipbuilding and Ocean Engineering, Dalian Maritime University, Dalian 116026, China;
    2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
  • Received:2019-06-17 Published:2020-04-21
  • Supported by:
    National Key R & D Program of China (2017YFC0305901); Project of State Key Laboratory of Robotics (2016-O04); the Fundamental Research Funds for the Central Universities (3132017030)

摘要: 为了预报dock对自主水下机器人(AUV)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用户自定义函数(UDF)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。所提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300 r/min推进作用下,自航对接时间约16 s,终端速度为0.75 m/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。

关键词: 自主水下机器人(AUV), 水下对接, 类物理数值模拟, 动网格, 自航

Abstract: To predict the effect of dock on hydrodynamic performance of autonomous underwater vehicle (AUV) and to improve AUV underwater docking success rate, a method of multi-block hybrid grids combined with dynamic layer method and user defined function (UDF) was presented, which was applied to the physics-based numerical 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 rest by a constant rotating propeller of 300 r/min is about 16 s. The end velocity reaches 0.75 m/s, which meets the demand for collision. The effect of the dock on AUV locates on the neck point B. There is a drag on AUV before B, followed by a suction after B. The increment of resistance is small with a value of 2.4%. Therefore, it is achievable for AUV docking with the dock.

Key words: autonomous underwater vehicle (AUV), underwater docking, physics-based numerical simulation, dynamic mesh, self-propulsion

中图分类号: 


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发