深海采矿水下巡检ROV水动力特性分析

Analysis of Hydrodynamic Characteristics of ROV for Underwater Inspection of Deep Sea Mining

为了高效稳定开采深海矿物资源,需要对深海采矿系统水下作业进行监测、维护。按照实际应用需要,自主研制了一款辅助海底多金属结核开采的水下巡检机器人(Remotely Operated Vehicle,ROV)。本文基于计算流体动力学方法,研究了ROV在进退和升沉两种主要运动模式下的阻力、表面压强及流场流线特点,同时采用滑移网格方法对螺旋桨仿真,分析了螺旋桨转动对ROV水动力性能的影响。结果表明:ROV在前进和下潜时具有较好的水动力性能,螺旋桨转动对ROV腔体内部流场及尾流区域产生梳流导流作用,减小了ROV负压区及航行阻力,后退和上升时螺旋桨转动则加剧内部流场紊乱,恶化了ROV水动力性能。

In order to efficiently and stably mine deep sea mineral resources,it is necessary to monitor and maintain the underwater operation of deep sea mining systems.According to the needs of practical application,an underwater inspection robot(Remotely Operated Vehicle,ROV)is independently developed to assist the mining of submarine polymetallic nodules.Based on the computational fluid dynamics method,this paper studies the resistance,surface pressure and flow field streamline characteristics of ROV under two main motion modes of advance and retreat and heave.At the same time,the slip grid method is used to simulate the propeller,and the influence of propeller rotation on the hydrodynamic performance of ROV is analyzed.The results show that the ROV has good hydrodynamic performance when advancing and diving.The rotation of the propeller has a diversion effect on the internal flow field and wake area of the ROV,which reduces the negative pressure area and navigation resistance of the ROV.The rotation of the propeller aggravates the disorder of the internal flow field and deteriorates the hydrodynamic performance of the ROV when retreating and rising.