基于空化喷射技术的水下机器人射流清洗仿真与实验（英文）
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摘要
目的:污染物质的存在会引起海底环境中的许多经济和生态问题。本文以遥控无人潜水器(ROV)为基础承载平台,实现基于空化喷射清洗技术的水下结构表面附着物清洗。创新点:将空化射流清洗技术与ROV结合,并利用空化泡在清洗表面区域溃灭产生的微射流冲击,以达到清理水下表面附着物和污垢层的目的。方法:1.通过计算流体动力学(CFD)仿真与实验,针对ROV水下喷射模型,在不同状态和不同参数下对水下射流的规律进行测试与比较。2.实验对比验证在不同喷射距离下所设计的空化射流清洗装置清理海底生物的能力。结论:1.当入口压力P=30 MPa,孔径d=2 mm,出口长度L=16 mm和出口直径D=16 mm时,水下喷嘴具有更高的清洁度和清洁效率,可以满足清洁要求。2. ROV喷嘴离水下泥浆越远,冲刷深度越浅。3.所设计的ROV空化喷射清洁装置与目标的距离越近,清洗强度越高;然而,当压力恒定且距离太近时,过度阻力会削弱冲洗强度。
引文
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Chen YJ,Tong ZM,Wu WT,et al.,2019.Achieving natural ventilation potential in practice:control schemes and levels of automation.Applied Energy,235:1141-1152.https://doi.org/10.1016/j.apenergy.2018.11.016
Cheng F,Ji WX,Qian CH,et al.,2018.Cavitation bubbles dynamics and cavitation erosion in water jet.Results in Physics,9:1585-1593.https://doi.org/10.1016/j.rinp.2018.05.002
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Duraiselvam M,Galun R,Siegmann S,et al.,2006.Liquid impact erosion characteristics of martensitic stainless steel laser clad with Ni-based intermetallic composites and matrix composites.Wear,261(10):1140-1149.https://doi.org/10.1016/j.wear.2006.03.024
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Goheen KR,Jefferys ER,1990.Multivariable self-tuning autopilots for autonomous and remotely operated underwater vehicles.IEEE Journal of Oceanic Engineering,15(3):144-151.https://doi.org/10.1109/48.107142
Hachicha S,Zaoui C,Dallagi H,et al.,2019.Innovative design of an underwater cleaning robot with a two arm manipulator for hull cleaning.Ocean Engineering,181:303-313.https://doi.org/10.1016/j.oceaneng.2019.03.044
Ji SM,Ge JQ,Tan DP,2017.Wall contact effects of particle-wall collision process in a two-phase particle fluid.Journal of Zhejiang University-SCIENCE A(Applied Physics&Engineering),18(12):958-973.https://doi.org/10.1631/jzus.A1700039
Khojasteh D,Kamali R,2017.Design and dynamic study of a ROV with application to oil and gas industries of Persian gulf.Ocean Engineering,136:18-30.https://doi.org/10.1016/j.oceaneng.2017.03.014
Marcon A,Melkote SN,Castle J,et al.,2016.Effect of jet velocity in co-flow water cavitation jet peening.Wear,360-361:38-50.https://doi.org/10.1016/j.wear.2016.03.027
Tong ZM,Li Y,Westerdahl D,et al.,2019a.Exploring the effects of ventilation practices in mitigating in-vehicle exposure to traffic-related air pollutants in China.Environment International,127:773-784.https://doi.org/10.1016/j.envint.2019.03.023
Tong ZM,Cheng ZW,Tong SG,2019b.Preliminary design of multistage radial turbines based on rotor loss characteristics under variable operating conditions.Energies,12(13):2550.https://doi.org/10.3390/en12132550
Yamaguchi A,Shimizu S,1987.Erosion due to impingement of cavitating jet.Journal of Fluids Engineering,109(4):442-447.https://doi.org/10.1115/1.3242686
Zhang JH,Wang D,Xu B,et al.,2018.Experimental and numerical investigation of flow forces in a seat valve using a damping sleeve with orifices.Journal of Zhejiang University-SCIENCE A(Applied Physics&Engineering),19(6):417-430.https://doi.org/10.1631/jzus.A1700164