船壁清洗水下机器人水动力分析与试验研究

Hydrodynamic Analysis and Experimental Study of Underwater Robot for Cleaning Hull

为更加高效地清理船舶外壁生物附着层,提高船舶运行的速度并降低能耗,研发出一种新型船舶清洗水下机器人,并对机器人的动力学方程进行简单分析。采用Fluent软件对机器人进行直航、下潜及横移3种状态下的阻力分析,通过曲线拟合得到速度与阻力之间的关系,验证其满足设计要求。对机器人在3种不同方向航行状态下的压力流场分布结构进行研究,结果显示3种状态下最大受力面上的阻力大小分布比较均匀,验证了机器人运动的可靠性。电路设计部分采用一种总线型分布式控制系统以及基于CAN总线的在线编程,实时性好。最终结果显示,水池试验结果与预期效果一致。

In order to clean away biological attachment layer of the boats and ships＇ outer surface effectively,improving the speed of ships and reducing energy consumption,a new kind of underwater robot is designed for cleaning hull.The kinetic equation of the robot is analyzed briefly.The software Fluent is used to analyze the resistance of the robot in three conditions of direct flight,submergence and traverse.The relationship between velocity and resistance is gained by curve fitting,proving that the robot meets the design requirements.The pressure field structure distribution of the robot in three different directions is studied.The results show that the distribution of resistance on the maximum force surface is uniform in the three states.The reliability of robot motion is verified by verifying the consistency of drag sizes on the force surfaces under three conditions.A distributed control system based on the type of bus and an online programming software based on CAN BUS have been used in the section of circuit design.It has the advantage of excellent real-time performance.The test result of the water tank is in accordance with the expected result.