AUV自航对接的类物理数值模拟

吴利红; 王诗文; 封锡盛; 李一平; 刘开周

doi:10.13700/j.bh.1001-5965.2019.0305

AUV自航对接的类物理数值模拟

doi: 10.13700/j.bh.1001-5965.2019.0305

吴利红^{1, 2, ,},
王诗文¹,
封锡盛²,
李一平²,
刘开周²

1.
大连海事大学船舶与海洋工程学院, 大连 116026
2.
中国科学院沈阳自动化研究所机器人学国家重点实验室, 沈阳 110016

基金项目:

国家重点研发计划 2017YFC0305901

机器人学国家重点实验室开放课题 2016-O04

中央高校基本科研业务费专项资金 3132017030

详细信息

作者简介:
吴利红女，博士，副教授。主要研究方向：水下机器人、水下对接、水动力学、螺旋桨

封锡盛男，博士，研究员，中国工程院院士。主要研究方向：水下机器人总体技术等

通讯作者:
吴利红. E-mail:wlh@sia.cn

中图分类号: TP242.6
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出版历程
- 收稿日期: 2019-06-17
- 录用日期: 2019-12-06
- 网络出版日期: 2020-04-20

Physics-based numerical simulation of AUV docking by self-propulsion

1.
College of Shipbuilding and Ocean Engineering, Dalian Maritime University, Dalian 116026, China
2.
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China

Funds:

National Key R & D Program of China 2017YFC0305901

Project of State Key Laboratory of Robotics 2016-O04

the Fundamental Research Funds for the Central Universities 3132017030

More Information

Corresponding author: WU Lihong, E-mail:wlh@sia.cn

摘要

摘要:
为了预报dock对自主水下机器人（AUV）水动力性能的影响，提高AUV水下对接成功率，提出一种多块混合网格结合动态层方法和用户自定义函数（UDF）的方法，应用于基于离散螺旋桨的AUV自航对接的类物理数值模拟。所提方法采用移动子区域代替传统的移动边界，可提高数值计算效率。在验证了AUV自航试验速度的基础上，对AUV自航对接的水动力和流场进行分析。结果表明，AUV在螺旋桨定转速300 r/min推进作用下，自航对接时间约16 s，终端速度为0.75 m/s。对接速度满足对接碰撞需求。dock对AUV运动影响：在对接井口B点之前起阻碍作用，在B点之后起吸附作用。AUV对接阻力增加2.4%，增幅小，可实现与dock对接。
- 自主水下机器人(AUV) /
- 水下对接 /
- 类物理数值模拟 /
- 动网格 /
- 自航
Abstract:
To predict the effect of dock on hydrodynamic performance of autonomous underwater vehicle (AUV) and to improve AUV underwater docking success rate, a method of multi-block hybrid grids combined with dynamic layer method and user defined function (UDF) was presented, which was applied to the physics-based numerical simulation of AUV underwater docking by self-propulsion with a discretized propeller. In this method, subdomain-moving substitutes for boundary-moving used in traditional dynamic mesh, which could improve the calculation efficiency. After the numerical validation of the velocity history of AUV self-propulsion against the experimental results, the hydrodynamic performance and flow field of AUV underwater docking were investigated. The results demonstrate that the time of AUV underwater docking from rest by a constant rotating propeller of 300 r/min is about 16 s. The end velocity reaches 0.75 m/s, which meets the demand for collision. The effect of the dock on AUV locates on the neck point B. There is a drag on AUV before B, followed by a suction after B. The increment of resistance is small with a value of 2.4%. Therefore, it is achievable for AUV docking with the dock.
- autonomous underwater vehicle (AUV) /
- underwater docking /
- physics-based numerical simulation /
- dynamic mesh /
- self-propulsion

HTML全文

图 1 三维对接系统模型

Figure 1. Three-dimensional model of docking system

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图 2 AUV对接的对称面网格

Figure 2. Symmetrical mesh for AUV docking

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图 3 AUV和螺旋桨尾部网格放大图

Figure 3. Zoomed-in mesh astern of AUV and propeller

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图 4 AUV网格

Figure 4. AUV mesh

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图 5 UDF流程图

Figure 5. Flowchart of UDF

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图 6 敞水试验的数值和试验结果对比

Figure 6. Comparison between numerical and experimental results in open water tests

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图 7 AUV自航速度曲线

Figure 7. AUV velocity curves during self-propulsion

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图 8 推力和阻力曲线

Figure 8. Curves of thrust and resistance

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图 9 AUV推力和阻力(在A和C点之间)

Figure 9. AUV thrust and resistance (between point A and C)

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图 10 AUV速度(在A和C点之间)

Figure 10. AUV velocity (between point A and C)

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图 11 AUV尾部速度矢量图

Figure 11. Velocity vectors astern of AUV

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图 12 AUV自航对接轴向速度云图

Figure 12. Axial velocity contours in AUV docking by self-propulsion

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图 13 AUV自航对接的三维压力云图

Figure 13. Three-dimensional pressure contours of AUV docking by self-propulsion

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