四旋翼碟形自主水下航行器运动方程建立与流体特性仿真研究

doi:10.3969/j.issn.1000-1093.2016.02.016

兵工学报 ›› 2016, Vol. 37 ›› Issue (2): 299-306.doi: 10.3969/j.issn.1000-1093.2016.02.016

四旋翼碟形自主水下航行器运动方程建立与流体特性仿真研究

宋保维，张宝收，姜军，杜晓旭，王德政

（西北工业大学航海学院，陕西西安 710072）

收稿日期:2015-04-06 修回日期:2015-04-06 上线日期:2016-04-22
通讯作者: 宋保维 E-mail:songbaowei@nwpu.edu.cn
作者简介:宋保维（1963—），男，教授，博士生导师
基金资助:
国家自然科学基金项目（11302176）

Estimation of Equation of Motion of Four-rotor Dish-shaped AUV and Simulation Research on Its Hydrodynamic Characteristics

SONG Bao-wei, ZHANG Bao-shou, JIANG Jun, DU Xiao-xu, WANG De-zheng

(School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, Shaanxi, China)

Received:2015-04-06 Revised:2015-04-06 Online:2016-04-22
Contact: SONG Bao-wei E-mail:songbaowei@nwpu.edu.cn

摘要/Abstract

摘要： 四旋翼碟形自主水下航行器（AUV）是一种新型水下航行器。为研究此航行器的流体动力特性，建立了四旋翼碟形AUV的三维模型，并定义了参考坐标系和广义特征参数；在其体坐标系中根据动量和动量矩定理，建立了广义参数定义的AUV六自由度动力学方程和运动学方程；采用计算流体力学方法，基于Ansys CFX流体分析软件，在的0°~90°攻角范围内，对航行器运动过程中的流体动力特性进行了仿真研究，并绘制了其特性曲线。仿真结果表明：在0°~15°攻角范围内，航行器具有较低的流体阻力，适宜做定深运动；在30°~50°攻角范围内，航行器具有良好的升力特性，适宜完成曲线潜浮运动。

关键词: 流体力学, 四旋翼碟形自主水下航行器, 流体动力, 特性分析, 数值计算

Abstract: The four-rotor dish-shaped AUV is a new type of underwater vehicle. A three-dimensional model is set up to study the hydrodynamic characteristics of AUV, and the reference coordinate system and the generalized characteristic parameters are defined. In the body coordinate system, the concise six-degree-of-freedom dynamics and kinematics equations of motion for AUV are presented based on the momentum and the angular momentum theorem. The computational fluid dynamics method is used to simulate the hydrodynamic characteristics during the movement of AUV at the angles of attack from 0° to 90° based on fluid analysis software (Ansys CFX). The curves of drag, lift and pitching moment coefficients with the change of angle of attack are drawn. The simulated results show that, in the range of the angles of attack from 0° to 15°, the AUV is suitable for moving at a certain depth in the fluid with small fluid resistance. In the range of the angles of attack from 30° to 50°, the AUV is suitable to complete the curvilinear snorkeling motion with excellent lift characteristics.

Key words: fluid mechanics, four-rotor dish-shaped AUV, fluid dynamics, characteristic analysis, numerical computation

中图分类号:

TP242.3

宋保维，张宝收，姜军，杜晓旭，王德政. 四旋翼碟形自主水下航行器运动方程建立与流体特性仿真研究[J]. 兵工学报, 2016, 37(2): 299-306.

SONG Bao-wei, ZHANG Bao-shou, JIANG Jun, DU Xiao-xu, WANG De-zheng. Estimation of Equation of Motion of Four-rotor Dish-shaped AUV and Simulation Research on Its Hydrodynamic Characteristics[J]. Acta Armamentarii, 2016, 37(2): 299-306.

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四旋翼碟形自主水下航行器运动方程建立与流体特性仿真研究

Estimation of Equation of Motion of Four-rotor Dish-shaped AUV and Simulation Research on Its Hydrodynamic Characteristics

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