微小型水下机器人水动力性能计算.pdf

哈尔演I‘W人学硕十。学何论文[——?摘要微小型水下机器人凶其自身的优点,在海洋科学研究领域,军事领域和商业领域都j:L有远大的应用前景。微小型水下机器人的水动力性能的计算对将米操纵性能的研究,以及建立运动仿真系统都具钉f‘分霞要的意义,也是研究其吞:复杂的海洋坏境中的操纵性和控制方法的基础,计算流体力学以其能处删丰I~件绕流问题的优势而成为当今水动力性能研究的重要工具和研究热点。本义基于计算流体力学通用软件一FLUENT,分别采用标准走一占, RN(;七一占,SSTk一缈三种湍流模型,结合壁面函数,并通过网格自适应技术比较计算了某微小型水下机器人在不同雷诺数下直航和斜航时的水动力特性,同时比较分析了不同的网格数量和离散区域大小以及不同的离散格式对计算的影响,验证了SSTk一甜湍流模型在解决该问题时的优越性;在此基础.}二采用FI。UENT动网格技术数值模拟了该机器人在不同频率和振幅下做纯横荡和纯俯仰运动时的水动力性能,并采用MATLAB曲线拟合功能,得到了相应的水动力系数,最终将数值计算结果与循环水槽进行的模型实验结果相比较, 表明数值计算取得了工程上较为满意、实用的精度。验证了该软件解决此类问题的有效性和实用性,同时为微小型水下机器人操纵性设计和分析,运动仿真与控制提供了重要参考依掘。关键词:FLUEN,l’;微小型水下机器人:水动力;湍流模型哈尔滨门鼍大学硕十学伊论文 iiiiiii置宣iii iiiiii Abstract Mini Automatic Underwater Vehicle,by thevirtueofitsown advantages,has apromising future inthe fields such as oceau science research,military application mercial characteristic plays avery major roleinmaneuverability andestablishing themotion simulation research on mini AUV hydrod),namic characteristic isthebaseofanalyzing the maneuverabi lityand control method when themini AUV isworking plex oceanic putational fluiddynamics isthefocus andthe main tool ofthehydrodynamics research,which can handle theviscous fluidissues. The main content ofmiS paper was the hydrody’namic characteristic numerical calculation of amini AUV bYtaking use oftheCFD code?FLUENT, which Was about thestraightmoving andoblique moving condition indifferent Reynolds turbulence models ofRNG k--C,standard k一￡and SST k一国were bined with wall functions and theadaptive grid. The affection ofthecalculation was analyzed interms ofdifferent鲥d quantities, discrete regions and discrete turbulence model—SST k一缈was proved tobegood atsolving this kind ofproblem based on theabove,the hydrodynamic characteristic was simulated by thedynamic mesh method in different frequencies andamplitudes when the mini AUV was inthesway and pitch motion hydrodynamic coefficients were obtained byusing the curve fitting ofMATLAB.,nle model te