基于CFD的协同AUV编队队形研究

Study on Collaborative AUV Formation Based on CFD

为了研究自主水下航行器(AUV)编队协同航行的减阻效果,对3个典型编队开展水动力性能研究。采用计算流体动力学(CFD)对3艘AUV以串列队形、并列队形和三角队形等开展水动力计算。通过改变各队形下AUV之间的间距,找到最佳队形间距位置,得出对各AUV的阻力影响。利用多目标遗传算法(MOGA)对三角队形进行优化,得出阻力最小的航行间距。结果表明:在串列队形中,当横向距离为3.80m和3.50m时,系统阻力达到最小;在并列队形中,系统阻力随纵向距离增大而减小,但系统内各AUV相比单体AUV无法获得阻力收益;在三角队形中,当横向距离为2.46 m、纵向距离为1.21 m时,系统阻力达到最小。研究成果可为多AUV编队航行提供一定参考。

In order to study the drag reduction effect of the formation collaborative navigation of autonomous underwater vehicles(AUV),three typical formations are analyzed for hydrodynamic study.Firstly,the computational fluid dynamics(CFD)method is used to calculate the hydrodynamics of three AUVs in tandem,parallel and triangular formations.Secondly,by varying the spacing between the AUVs in each formation,the optimum spacing position is determined to analyze its resistance effect on each AUV.Then,the triangular formation is optimized using a muti-objective genetic algorithm(MOGA)to achieve a navigation pitch with minimal resistance.The results of the study show that:in the tandem formation,the system resistance reaches the minimum when the lateral distance is 3.80 m and 3.50 m.In the parallel formation,the system resistance decreases with increasing longitudinal distance,but each AUV in the system cannot achieve the resistance gain compared to the single AUV;in the triangular formation,when the lateral distance is 2.46 m and the longitudinal distance is 1.21 m,the system resistance reaches the minimum.Research results may provide some reference for multi-AUV formation navigation.