OBLIQUE TOWING TEST AND MANEUVER SIMULATION AT LOW SPEED AND LARGE DRIFT ANGLE FOR DEEP SEA OPEN-FRAMED REMOTELY OPERATED VEHICLE

This article presents the newly designed oblique towing test in the horizontal plane for the scaled model of 4 500 m deep sea open-framed Remotely Operated Vehicle （ROV）,which is being researched and developed by Shanghai Jiao Tong University.Accurate hydrodynamics coefficients measurement is significant for the maneuverability and control system design.The scaled model of ROV was constructed by 1：1.6.Hydrodynamics tests of large drift angle were conducted through Large Amplitude Horizontal Planar Motion Mechanism （LAHPMM） under low speed.Multiple regression method is adopted to process the test data and obtain the related hydrodynamic coefficients.Simulations were designed for the horizontal plane motion of large drift angle to verify the coefficients calculated.And the results show that the data can satisfy with the design requirements of the ROV developed.

基于水动力试验的深海开架式潜水器三维轨迹跟踪控制平台设计(英文)

由于深海潜水器的高研发成本和海洋环境的复杂性,文章设计并开发了一个深海潜水器近海底三维轨迹跟踪控制仿真平台,仿真平台主要包括海图数据处理、海底环境生成、水下机器人建模、轨迹跟踪仿真四个主要模块。建造了1:1.6的ROV缩尺比模型,通过VPMM和LAHPMM进行了模型水动力试验,获得了相关的水动力系数,并根据潜水器的结构布置特征,建立了5自由度的潜水器运动数学模型。在Windows操作系统VC++6.0集成环境下,通过OpenGL图形开发库,搭建了该仿真平台,并进行了初步调试,获得了比较理想的模拟效果。

开架式水下机器人水动力系数计算与动力学建模

为实现开架式水下机器人的操纵性预报和开展控制算法的研究,提出一种基于格子波尔兹曼方法(LBM)的水动力系数数值计算方法。对比LBM和传统雷诺平均Navier-Stokes方程方法在稳态纵荡运动和斜航运动中的模拟结果,验证LBM的可行性。建立大振幅非稳态平面运动机构试验的严格运动函数,根据水下机器人结构特点构建包含惯性水动力系数、线性与非线性黏性水动力系数的水动力模型,并采用最小二乘法辨识水动力模型参数。对标准操纵性试验进行数值仿真,验证所建立的6自由度运动方程的有效性。结果表明:与基于传统计算流体力学技术的水动力计算方法相比,LBM不会受水下机器人外形复杂程度的限制,避免了非稳态运动模拟中复杂动网格的更新难题;通过大振幅平面运动机构试验模拟缩短了水动力系数计算周期,该水动力学模型较完整,更适用于操纵性预报和控制算法的研究。