开架式水下机器人水动力系数计算与动力学建模

doi:10.3969/j.issn.1000-1093.2021.09.018

摘要/Abstract

摘要： 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。

关键词: 水下机器人, 水动力系数, 格子波尔兹曼方法, 大振幅平面运动机构试验

Abstract: A numerical calculation method for hydrodynamic coefficients based on lattice Boltzmann method (LBM) is proposed for studying the maneuverability prediction and control algorithms of open-frame underwater robot.The steady-state surge motion simulation test and oblique towing simulation test were carried out based on LBM and Reynolds-averaged Navier-Stokes(RANS) methods, respectively, and the feasibility of LBM method was verified by comparing the test results.The motion mathematical models of large amplitude planar motion mechanism(PMM) tests and the hydrodynamic models, including inertial hydrodynamic coefficients, linear and nonlinear viscous hydrodynamic coefficients, were established according to the structural characteristics of remotely operated vehicle(ROV), and the hydrodynamic coefficients in the hydrodynamic models were obtained by using least square method. The standard maneuverability simulation tests were performed, which verifies the validity of the 6-DOF motion equation with hydrodynamic coefficients.Compared with traditional CFD methods, the proposed hydrodynamic coefficients calculation method is not limited by the shape complexity of underwater robot, and the updating issue of complex dynamic mesh in unsteady-state motions simulation is avoided. The calculation period of hydrodynamic coefficients is shortened by the large amplitude PMM simulation tests，and the proposed dynamic model is more available for the research of maneuverability and control algorithms.

Key words: underwaterrobot, hydrodynamiccoefficient, latticeBoltzmannmethod, largeamplitudeplanarmotionmechanismtest

中图分类号:

TP242.3

闫银坡，于福杰，陈原. 开架式水下机器人水动力系数计算与动力学建模[J]. 兵工学报, 2021, 42(9): 1972-1986.

YAN Yinpo， YU Fujie， CHEN Yuan. Hydrodynamic Coefficients Calculation and Dynamic Modeling of an Open-frame Underwater Robot[J]. Acta Armamentarii, 2021, 42(9): 1972-1986.

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