开架式水下机器人操纵性水动力系数计算

Maneuverability Coefficients Calculation of an Open-frame Underwater Remote Operated Vehicle

开架式水下机器人结构复杂,其操纵性水动力学模型具有高度非线性且是耦合的,航行性能也因结构多样而不相同。为完成清污水下机器人的推进器布置方案,基于零航速展开的二阶水动力模型,采用Fluent数值仿真方法模拟机器人的直航、斜航和定轴回转运动,并通过AQWA获得水下机器人的附加质量矩阵。根据获得的水动力情况配置ROV推进系统,通过最小二乘法拟合获得清污水下机器人的各项水动力系数。

The structure of the open-frame underwater remote operated vehicle(ROV)is complex,its maneuverability hydrodynamic model is highly nonlinear and coupled.and the navigation performance of the ROV varies with structures,therefore it is difficult to build a maneuverability model with enough accuracy.In order to complete the layout of the propeller system of the ROV,based on the second-order hydrodynamic model expanding at zero speed,Fluent numerical simulation method is adopted to simulate the direct navigation,oblique navigation and fixed-axis rotary motion of the ROV,and the added mass matrix is obtained by using AQWA.According to the result of the numerical calculation,the thruster system is built and the hydrodynamic coefficients are computed according to least-square method.