AUV模块化对于操纵性的影响分析

Analysis of the influence of AUV modularization on maneuverability

AUV在水下的运动复杂且受到水动力的影响,在机械结构上有着模块化设计的AUV安装附加舱段势必会对运动性能产生变化,因此研究AUV在加装舱段后的水下操纵性变化问题。首先通过SolidWorks分别建立AUV与安装附加舱段AUV的几何模型,运用Ansys Fluent分别计算水动力系数;然后利用Matlab软件建立AUV的六自由度运动数学模型,最后以水平面回转运动、水平面Z形操舵运动以及空间定常螺旋下潜运动3个方面的操纵性仿真,对原AUV与加舱段AUV的操纵性进行预报并对比分析结果。结果表明,搭载了舱段的AUV相比原AUV会降低运动性能、应舵性能。

The underwater motion of AUV is complex and affected by hydrodynamic force.The installation of additional compartments of AUV with modular mechanical structure is bound to change the motion performance.Therefore,the underwater maneuverability change of AUV after the addition of the compartments is studied.Firstly,the geometric models of AUV and AUV installed in additional cabin were established by Solidworks,and the hydrodynamic coefficients were calculated by Ansys Fluent.Then,the six-DOF motion mathematical model of AUV was established by Matlab software.Finally,the maneuverability of the original AUV and the ballast AUV is predicted and compared by the maneuverability simulation in three aspects:horizontal rotary motion,horizontal Z-steering motion and space steady spiral dive motion.The results show that,compared with the original AUV,the maneuverability and rudder performance of the AUV with the cabin segment will be reduced.