斜流作用下清洗机器人流场大涡模拟

Large Eddy Simulation on Flow Field of Cleaning Robot under Oblique Flow

针对清洗机器人受水流作用的工作稳定性问题,采用大涡模拟方法对雷诺数Re分别为300、3000、30000等3种来流条件下的水下机器人流场动力学特性进行数值模拟,分析其时均流场、瞬态涡结构和受力特性。结果表明:紧贴船壳壁面的水下机器人周围流场稳定性很高,壁面效应使机器人尾涡脱落受到抑制;随雷诺数增加,流体边界层厚度减小,阻力系数和侧向力系数逐渐增大;雷诺数为30000时,阻力系数为0.53,侧向力系数为0.28,侧向力控制是水下机器人后续研究的重点。研究结果能为清洗机器人工作过程的稳定性研究提供理论依据。

In view of the stability of cleaning robot under the action of current,the flow characteristics of three Reynolds numbers 300,3000 and 30000 are numerically simulated by large eddy simulation.The time-averaged flow field,transient vortex structure and force characteristics are analyzed respectively.The results show that the flow field around the underwater vehicle attached to the hull wall is stable,and the tailing vortex shedding is suppressed by the wall effect.With the increase of Reynolds number,the thickness of fluid boundary layer decreases,the resistance coefficient and lateral force coefficient increases gradually.When the Reynolds number is 30000,the resistance coefficient is 0.53,the lateral force coefficient is 0.28.Lateral force control is the focus of underwater vehicle in the follow-up study.The results can provide a theoretical basis for the working stability of the cleaning robot.