水下机器人水动力参数CFD计算及操纵性预报

CFD Calculation of Underwater Vehicle Hydrodynamic Parameters and Maneuverability Prediction

以微小型水下机器人为研究对象,采用计算流体动力学(Computational Fluid Dynamics, CFD)数值模拟方法开展机器人阻力的数值模拟,并将摩擦阻力因数Cf与第8届ITTC推荐值进行对比验证,提出一种无动力带桨水下机器人水动力参数CFD计算方法。利用此方法,基于航行力学基本原理,采用定常计算方法开展微小型水下机器人斜航、操舵直航试验数值模拟,采用全局网格运动方法开展回转拘束模型试验数值模拟,获取机器人位置导数、舵导数和旋转导数,并完成该机器人的操纵性能预报,为机器人的总体设计和控制参数的选取奠定基础。

Taken the micro underwater vehicle as the research object, the resistance of the vehicle is calculated using Computational Fluid Dynamics(CFD) numerical simulation method. The friction resistance factor Cfis compared with the recommended value of 8th ITTC. A CFD calculation method for the hydrodynamic parameters of an unpowered underwater vehicle with a propeller is proposed. Using this method, based on the basic principles of underwater navigation mechanics, the steady calculation method is used to the numerical simulation test of the oblique flight and steering direct flight, the overall moving grid method is used to the numerical simulation of the rotation constraint model test, the position derivative, rudder derivative and rotation derivative of the vehicle are obtained, and its maneuverability prediction is completed, which lays the foundation for the overall design and control parameter selection of the vehicle.