流体输送管路中悬浮体运动稳定性数值分析

Numerical Analysis of the Motion Stability of Suspended Body in Fluid Transport Pipeline

为了解流体驱动管道机器人在流体输送管路中的运动稳定性,以悬浮体为研究对象,采用计算流体动力学(CFD)软件对其运动进行仿真,通过欧拉角、角速度、线速度、受力和力矩等参数随时间的变化规律分析其稳定性。计算结果表明,悬浮体在转弯过程中稳定性最差,而在整个运动过程,悬浮体所受力和力矩值较小,且欧拉角变化频率低于3 Hz,有利于运动过程中姿态的控制及环境数据采集。由平移和转动运动形式分析可得,悬浮体的运动稳定性由好到差的顺序为:平移:x>z>y,在弯头区:入弯前>出弯后>弯头;转动:z>y>x,在弯头区:入弯前>出弯后>弯头。

In order to understand the motion stability of the fluid-driven pipeline robot in the fluid conveying pipeline,this paper takes the suspended body as the research object,and uses computational fluid dynamics(CFD)software to simulate its motion.Through Euler angle,angular velocity,linear velocity,Analyze the stability of parameters such as force and moment over time.The calculation results show that the suspension has the worst stability during the turning process.During the entire movement,the force and moment of the suspension are small,and the Euler angle change frequency is lower than 3 Hz,which is beneficial to the attitude during the movement.Control and environmental data collection.According to the analysis of the translational and rotational motion forms,the order of the movement stability of the suspension from good to poor is:①Translation:x>z>y,in the elbow area:before entering the bend>after exiting the bend>elbow;②Rotation:z>y>x,in the elbow area:before entering the bend>after exiting the bend>elbow.