微小型水下航行器水动力性能分析及双体干扰研究
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摘要
微小型水下航行器以其体积、重量小、机动灵活等特点在海洋资源开发领域有着独特的优势，得到了广泛关注。微小型水下航行器工作时，将在复杂海洋环境中进行六自由度运动，而在微小型水下航行器从水面或水下搭载平台释放或回收的过程中，它将处于搭载平台扰动的复杂流场中。由于其推进与操纵系统功率有限，极易受到不规则海浪、海流、旋涡的影响，如何适应复杂的海洋环境，有效地控制自身的航行状态和保持自身的作业姿态，是微小型水下航行器必须面对的问题。要解决这一问题，就必须要了解微小型水下航行器在复杂流场中的水动力性能，包括其对不规则海浪、海流、旋涡的响应，并据此制定控制策略，因此，微小型水下航行器在复杂流场中的水动力性能研究是解决上述问题的基础。本文基于CFD技术计算了不同形式的微小型水下航行器在非均匀流场中的水动力性能，并进行了微小型航行器在复杂流场中的水动力性能试验，同时也进行了平板与钝物体间的流动干扰、对拍翼、串列翼推进性能等双体间水动力干扰研究，主要内容包括：
（1）基于CFD技术预报了回转体、扁平体两种形式的微小型水下航行器在均匀流场中定常、非定常水动力性能，获得了相关水动力系数，并同实验结果进行对比验证，分析了湍流模型、网格数量对计算结果的影响，探讨了并行算法的计算效率。在此基础上，通过编写用户自定义函数，生成了线性分布的非均匀流场，计算了回转体、扁平体模型在非均匀流场中的直航、斜航、六自由度运动的水动力性能。
（2）在哈尔滨工程大学大型试验水池中采用潜水泵局部射流，池内循环的方式生成了三维复杂喷流流场，采用多普勒流速仪对复杂流场多个位置进行了三维流速测量，比较了不同潜水泵频率、数量生成的复杂流场速度分布情况。采用三分力天平测量了回转体、扁平体模型在复杂流场中不同流速分布、不同漂角时的纵向力、横向力和转艏力矩，并同数值计算结果进行了对比分析。
（3）基于非结构化网格对边界层内网格进行局部加密，采用不匹配网格划分方法实现了不同尺度网格的合理过渡，计算了微小型水下航行器距大型水下载体不同位置时的升力、阻力、俯仰力矩性能。
（4）基于结构化网格分析了前置、后置平板对不同截面形状的钝物体(圆柱、方柱)流体动力性能的影响，结合布置平板前后流场参数以及钝物体受力变化研究了平板与钝物体间的流动干扰现象。
（5）分别采用动网格和滑移网格方法计算了对拍翼、串列翼的推进性能，探讨了来流速度、相位差、频率、振幅对其推进性能的影响，系统的分析了对拍翼和串列翼较单翼拍动在推力和推进效率上的优势。采用动网格方法计算了二维、三维拍动平板的升力性能，分析平板运动参数对二维、三维平板升力系数影响；讨论了网格数量和时间步长对计算精度的影响。
By the virtue of its own characteristics such as small volume, light weight and goodmaneuverability, Mini-Underwater Vehicle has a promising future in ocean science research,and has been paid more and more attention. Mini-Underwater Vehicle will conduct six-degreeof freedom motion when working in complex marine environment, and will in the complexflow field perturbed by the carrying platform during release and recovery process. It is easilyinterfered by irregular wave, current and vortex because of propulsive and control systempower limited. How to adapt to the complex marine environment and control the navigationand work status are the problems Mini-Underwater Vehicle must face. To solve theseproblems, it is necessary to understand the hydrodynamic performance of Mini-UnderwaterVehicle in complex flow field, including motion response to irregular wave, current andvortex, and then establish the control strategies. So the hydrodynamic performance ofMini-Underwater Vehicle in complex flow field is the basis to solve these problems. Thispaper was based on the CFD technique to study the hydrodynamic performance of differenttypes of Mini-Underwater Vehicle in uneven flow field, and conducted experiment on theirhydrodynamic performance in complex flow field. The interaction between two bodies suchas plate and bluff body, propulsive performance of twin flapping wing and tandem wing werealso researched. The main content of this paper included:
(1) The steady and unsteady hydrodynamic performance of Mini-Underwater Vehicle inuniform flow with the revolved body and flat body were predicted by the CFD technique;associated hydrodynamic coefficients were obtained and compared with experimentresults. The influence of turbulence model, grid quantity and parallel calculationefficiency were analyzed. Based on these calculations, the user defined functions werewritten to achieve uneven flow fields with linear velocity distribution, and thehydrodynamic performance of the revolved body and flat body conducted the straightmoving, oblique moving and six-degree freedom motion were numerically calculated inthese uneven flow field.
(2) The experiments of hydrodynamic performance of Mini-Underwater Vehicle in complexflow field were conducted in Harbin Engineering University basin. The three dimensional complex flow fields were generated by underwater pump; the flow wascirculated in the basin. The three dimensional velocities were measured by Dopplercurrent profiler. The velocity distribution of complex flow fields generated by differentpump frequency and quantity were compared. The influence of complex flow field onthe hydrodynamic performance including longitudinal force, lateral force and yawingmoment of the revolved body and flat body versus velocity distribution and drift anglewere measured by the three component balance, and the experiment results were alsocompared with the CFD calculation results.
(3) Based on the unstructure mesh, refined the mesh in boundary layer, and transition ofdifferent scale mesh were achieved by Non-Conformal grid algorithm; the lift, drag andpitching moment performance were calculated when the distance between theMini-Underwater Vehicle and the large underwater carrier was changed.
(4) The fluid dynamic performance interaction between bluff body (circular cylinder, squarecylinder) and upstream and downstream plate were calculated based on the structuremesh. The flow interference phenomenon between bluff body and plate were researchedbased on the force of bluff body and flow parameter variety before and after plate placed.
(5) The dynamic mesh and sliding mesh methods were adopt to calculated the propulsiveperformance of twin flapping wing and tandem wing, the influence of velocity, phase lag,flapping frequency and amplitude on propulsive performance were discussed. Theadvantages of twin flapping wing and tandem flapping wing on thrust and thrustefficiency than single flapping wing were analyzed systematically. Lift performance oftwo-and three-dimensional flapping plate were calculated by dynamic mesh method. Theinfluence of flapping parameters to lift coefficients of two-and three-dimensional wereanalyzed; and the grid quantity and time step sensitive test were conducted.
（1）基于CFD技术预报了回转体、扁平体两种形式的微小型水下航行器在均匀流场中定常、非定常水动力性能，获得了相关水动力系数，并同实验结果进行对比验证，分析了湍流模型、网格数量对计算结果的影响，探讨了并行算法的计算效率。在此基础上，通过编写用户自定义函数，生成了线性分布的非均匀流场，计算了回转体、扁平体模型在非均匀流场中的直航、斜航、六自由度运动的水动力性能。
（2）在哈尔滨工程大学大型试验水池中采用潜水泵局部射流，池内循环的方式生成了三维复杂喷流流场，采用多普勒流速仪对复杂流场多个位置进行了三维流速测量，比较了不同潜水泵频率、数量生成的复杂流场速度分布情况。采用三分力天平测量了回转体、扁平体模型在复杂流场中不同流速分布、不同漂角时的纵向力、横向力和转艏力矩，并同数值计算结果进行了对比分析。
（3）基于非结构化网格对边界层内网格进行局部加密，采用不匹配网格划分方法实现了不同尺度网格的合理过渡，计算了微小型水下航行器距大型水下载体不同位置时的升力、阻力、俯仰力矩性能。
（4）基于结构化网格分析了前置、后置平板对不同截面形状的钝物体(圆柱、方柱)流体动力性能的影响，结合布置平板前后流场参数以及钝物体受力变化研究了平板与钝物体间的流动干扰现象。
（5）分别采用动网格和滑移网格方法计算了对拍翼、串列翼的推进性能，探讨了来流速度、相位差、频率、振幅对其推进性能的影响，系统的分析了对拍翼和串列翼较单翼拍动在推力和推进效率上的优势。采用动网格方法计算了二维、三维拍动平板的升力性能，分析平板运动参数对二维、三维平板升力系数影响；讨论了网格数量和时间步长对计算精度的影响。
By the virtue of its own characteristics such as small volume, light weight and goodmaneuverability, Mini-Underwater Vehicle has a promising future in ocean science research,and has been paid more and more attention. Mini-Underwater Vehicle will conduct six-degreeof freedom motion when working in complex marine environment, and will in the complexflow field perturbed by the carrying platform during release and recovery process. It is easilyinterfered by irregular wave, current and vortex because of propulsive and control systempower limited. How to adapt to the complex marine environment and control the navigationand work status are the problems Mini-Underwater Vehicle must face. To solve theseproblems, it is necessary to understand the hydrodynamic performance of Mini-UnderwaterVehicle in complex flow field, including motion response to irregular wave, current andvortex, and then establish the control strategies. So the hydrodynamic performance ofMini-Underwater Vehicle in complex flow field is the basis to solve these problems. Thispaper was based on the CFD technique to study the hydrodynamic performance of differenttypes of Mini-Underwater Vehicle in uneven flow field, and conducted experiment on theirhydrodynamic performance in complex flow field. The interaction between two bodies suchas plate and bluff body, propulsive performance of twin flapping wing and tandem wing werealso researched. The main content of this paper included:
(1) The steady and unsteady hydrodynamic performance of Mini-Underwater Vehicle inuniform flow with the revolved body and flat body were predicted by the CFD technique;associated hydrodynamic coefficients were obtained and compared with experimentresults. The influence of turbulence model, grid quantity and parallel calculationefficiency were analyzed. Based on these calculations, the user defined functions werewritten to achieve uneven flow fields with linear velocity distribution, and thehydrodynamic performance of the revolved body and flat body conducted the straightmoving, oblique moving and six-degree freedom motion were numerically calculated inthese uneven flow field.
(2) The experiments of hydrodynamic performance of Mini-Underwater Vehicle in complexflow field were conducted in Harbin Engineering University basin. The three dimensional complex flow fields were generated by underwater pump; the flow wascirculated in the basin. The three dimensional velocities were measured by Dopplercurrent profiler. The velocity distribution of complex flow fields generated by differentpump frequency and quantity were compared. The influence of complex flow field onthe hydrodynamic performance including longitudinal force, lateral force and yawingmoment of the revolved body and flat body versus velocity distribution and drift anglewere measured by the three component balance, and the experiment results were alsocompared with the CFD calculation results.
(3) Based on the unstructure mesh, refined the mesh in boundary layer, and transition ofdifferent scale mesh were achieved by Non-Conformal grid algorithm; the lift, drag andpitching moment performance were calculated when the distance between theMini-Underwater Vehicle and the large underwater carrier was changed.
(4) The fluid dynamic performance interaction between bluff body (circular cylinder, squarecylinder) and upstream and downstream plate were calculated based on the structuremesh. The flow interference phenomenon between bluff body and plate were researchedbased on the force of bluff body and flow parameter variety before and after plate placed.
(5) The dynamic mesh and sliding mesh methods were adopt to calculated the propulsiveperformance of twin flapping wing and tandem wing, the influence of velocity, phase lag,flapping frequency and amplitude on propulsive performance were discussed. Theadvantages of twin flapping wing and tandem flapping wing on thrust and thrustefficiency than single flapping wing were analyzed systematically. Lift performance oftwo-and three-dimensional flapping plate were calculated by dynamic mesh method. Theinfluence of flapping parameters to lift coefficients of two-and three-dimensional wereanalyzed; and the grid quantity and time step sensitive test were conducted.
引文
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