复合驱动式水下机器人结构及水动力系数计算

Structure of Compound Driven Underwater Vehicle and Calculation of Hydrodynamic Coefficient

针对水下观测和海底移动检测作业需求,提出一种复合驱动水下机器人。为实现水中游动与海底爬行,采用螺旋桨与履带移动底盘的复合驱动形式。通过对水下机器人进行数学建模,基于ICEM和Fluent水动力分析软件,模拟复合驱动式水下机器人水平直航、水平斜航、垂直斜航、加速直航运动实验,并采用最小二乘法对仿真数据进行拟合处理,获得相应水动力系数。研究结果为复合驱动式水下机器人结构优化与运动控制提供重要的数据基础和理论支撑。

A underwater vehicle driven by combined propeller and movable crawler chassis systems can swim in the water and crawl on seabed to carry out underwater observation and detection works.The robot is simulated with a ICEM and Fluent-based mathematical model to test its movement of horizontal direct navigation,horizontal oblique navigation,vertical oblique navigation and accelerated direct navigation.The simulation data are fitted by the least square method to obtain the hydrodynamic coefficient.The research results provide important data basis and theoretical support for structural optimization and motion control of compound driven underwater vehicles.