水陆两栖车辆水上运动特性实时仿真系统研究

doi:10.12382/bgxb.2022.1237

摘要/Abstract

摘要：

为解决水陆两栖车辆水动力性能参数获取难度大、运动姿态预测慢等问题,设计一种两栖车辆水上运动特性实时仿真系统,实现仿真模型的驱动、运动姿态预测以及数据的监测和输出,通过动态流体-物体相互作用数值计算方法对车体动力学系数进行修正,提升了实时仿真系统的精度。在此基础上研制试验样车,对不同工况下实时仿真系统的准确性进行验证。试验结果表明:所构建的两栖车辆水上运动特性实时仿真系统兼具计算精度和计算效率,可以快速准确地预测车辆的运动姿态,适用于多种复杂工况,具有姿态预测的泛用性。新系统在两栖车辆研制阶段、驾驶员培训、半实物仿真演练、复杂环境模拟等方面具有较强的应用价值和应用前景。

关键词: 水陆两栖车辆, 水上运动特性, 实时仿真, 水动力系数

Abstract:

A real-time simulation system for the hydrodynamic characteristics of amphibious vehicles is designed to solve the problems of dificultly acquiring the hydrodynamic parameters and slowly predicting the motion attitude of amphibious vehicles. It can realize the driving of simulation models, motion attitude prediction, data monitoring and output. The numerical calculation method(CFD) is used to correct the vehicle dynamics coefficients, which significantly improves the accuracy of real-time simulation system. In addition, a test amphibious vehicle is developed to verify the accuracy of real-time simulation system under different working conditions. The results show that the real-time simulation system can be used to accurately and efficiently simulate the hydrodynamic characteristics of amphibious vehicles, and predict the motion attitude of the vehicle quickly and accurately. It is also applicable to various complex working conditions and has universal applicability for attitude prediction. The system has strong application value and application prospect in the development stage of amphibious vehicles, driver training, semi-physical simulation exercises and complex environment simulation.

Key words: amphibious vehicle, hydrodynamic characteristics, real-time simulation, hydrodynamic coefficient

中图分类号:

U469.6⁺93

陈泰然, 耿昊, 王典, 邱思聪, 孙旭光. 水陆两栖车辆水上运动特性实时仿真系统研究[J]. 兵工学报, 2024, 45(5): 1402-1415.

CHEN Tairan, GENG Hao, WANG Dian, QIU Sicong, SUN Xuguang. Research on the Real-time Simulation System for Hydrodynamic Characteristics of Amphibious Vehicle[J]. Acta Armamentarii, 2024, 45(5): 1402-1415.

图/表 25

图1 实时仿真流程示意图

Fig.1 Flow chart of real-time simulation

图2 整车功能示意图

Fig.2 Schematic diagram of the whole vehicle function

图3 坐标系示意图

Fig.3 Schematic diagram of coordinate system

图4 OBB包围盒碰撞检测示意图[18]

Fig.4 Schematic diagram of OBB surround box collision detection[18]

图5 弹簧阻尼模型[22]

Fig.5 Spring damping model[22]

图6 两栖车辆实体划分示意图

Fig.6 Schematic diagram of amphibious vehicle entity division

图7 入水感应单元

Fig.7 Water ingress detection unit

图8 水面仿真场景(左)和水陆交界仿真场景(右)

Fig.8 Water surface simulation scene (left) and water-land interface simulation scene (right)

图9 两栖车辆运动姿态(4s加速停止)

Fig.9 Motion attitudes of amphibious vehicles (4s acceleration stop)

图10 两栖车辆航行姿态对比

Fig.10 Comparison of movement postures of amphibious vehicles

表1 两栖车辆动力学系数设定

Table 1 Amphibious vehicle dynamics coefficient setting

实体	阻力系数	浮力系数	升力系数
前滑板1	0.80	1.00	1.50
前滑板2	0.80	1.00	1.50
车身1	1.00	1.00	1.00
车身2	0.00	1.00	0.50
车身3	0.00	1.00	0.50
车身4	0.20	1.00	0.50
车身5	0.00	1.00	0.50
车身6	0.00	1.00	0.50
车身7	0.20	1.00	0.50
车身8	1.00	1.00	1.00
前轮	0.60	0.90	0.75
后轮	0.60	0.90	0.75
后水翼	0.90	1.10	1.40
拉杆组1	0.00	0.00	0.00
拉杆组2	0.00	0.00	0.00
拉杆组3	0.00	0.00	0.00

图11 车体姿态侧视图

Fig.11 Side view of vehicle attitude

图12 车辆外流场俯视图

Fig.12 Top view of vehicle outflow field

图13 验证组实验结果对比

Fig.13 Comparison of experimental results of validation groups

图14 试验车总体示意图

Fig.14 General diagram of test vehicle

表2 试验车主要技术指标

Table 2 Main technical indicators of experimental vehicle

技术内容	指标要求
车体尺寸(陆地状态)/mm	1 665×820×600
车体尺寸(水面状态)	2 800×820×600
全车整备质量/kg	250
陆上最高时速/(km·h^-1)	14
水上最高时速/(km·h^-1)	20
推进器喷口最大转角/(°)	20
轮胎驱动方式	电机独立驱动
试验车操控方式	平板远程遥控
全车防水等级	全车IP68

图15 模拟车辆(左)与试验车辆(右)外形对比图

Fig.15 Comparison of the shapes of a simulated vehicle (left) and an experimental vehicle (right)

表3 物理参数对照

Table 3 Physical parameter comparison

参数	实时仿真模型	两栖试验车
整车尺寸(陆地状态)/mm	1 665×820×600	1 665×820×600
整车尺寸/(减阻状态)/mm	2 800×820×600	2 800×820×600
整备质量/kg	250	250
推进器额定输出推力/N	400×2	518.3×2
车轮额定输出转矩/(N·m)	6×4	6×4

图16 试验场地实景

Fig.16 Real view of test site

表4 直线加速试验设计

Table 4 Design of linear acceleration test

编号	行驶方向	加速时间/s	最高航速/ (km·h^-1)	组数	测量物理量
Ⅰ	南	4	3.75	4	航速、纵倾角
Ⅱ	南	4	7.50	4	航速、纵倾角
Ⅲ	南	4	11.25	4	航速、纵倾角
Ⅳ	南	4	15.00	4	航速、纵倾角

表5 回转试验设计

Table 5 Design of steering test

编号	最高航速/ (km·h^-1)	矢量喷口转角/(°)	组数	测量值
Ⅰ	3.75	右20	3	航速、航迹
Ⅱ	7.50	右20	3	航速、航迹
Ⅲ	11.25	右20	3	航速、航迹
Ⅳ	15.00	右20	3	航速、航迹

图17 试验Ⅰ结果对比

Fig.17 Comparison of the results of TestⅠ

图18 试验Ⅲ结果对比

Fig.18 Comparison of the results of Test Ⅲ

图19 试验航迹图

Fig.19 Test navigation track

图20 仿真航迹图

Fig.20 Simulation navigation track

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