低速域水下遥控机器人水动力试验系统设计

Design of Hydrodynamic Test System for Underwater Remote-control Robot in Low Speed

为测量低速域水下遥控机器人水动力系数,设计了一套水下遥控机器人水动力试验系统。通过水动力仿真模拟获得水下遥控机器人模型合适的壁面距离,以及以最大设计速度与角速度运动时受到的水动力与水动力矩。根据仿真结果确定负载需求,设计了包括由卷扬机和直线导轨驱动的拖曳试验台以及由伺服电机与旋转减速器驱动的旋转试验台的试验系统。

In order to measure hydrodynamic coefficients of underwater remote-control robots in low-speed area,a hydrodynamic test system for underwater robots is designed.The hydrodynamic simulations are performed to obtain the appropriate wall distances for underwater robot models and the hydrodynamic and hydrodynamic moments that are experienced when moving at the maximum design speed and angular velocity.According to the simulation results to determine load requirements,a test system including a drag tester driven by a winch and a linear guide,and a rotary tester driven by a servo motor and a rotary retarder is designed.The test system provides a research foundation for hydrodynamic testing and research of low-speed hydrodynamic simulation models.