| 面向AUV自主回收的拖曳装置水动力特性研究 |
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| 引用本文： | 唐东生,谷海涛,冯萌萌,孟令帅,陈佳伦,高伟.面向AUV自主回收的拖曳装置水动力特性研究[J].舰船科学技术,2021(3):107-114. |
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| 作者姓名： | 唐东生 谷海涛 冯萌萌 孟令帅 陈佳伦 高伟 |
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| 作者单位： | 中国科学院沈阳自动化研究所机器人学国家重点实验室;中国科学院机器人与智能制造创新研究院;中国科学院大学 |
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| 基金项目： | 十三五预研项目(3020605040302);预研联合基金资助项目(6141A01061601);中国科学院海洋信息技术创新研究院前沿基础研究项目(QYJC201913);机器人学国家重点实验室基金(Y91Z0904)。 |
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| 摘 要： | 本文根据无人水面艇(USV)回收自主水下机器人AUV需求,设计了一款V型拖曳装置(V型翼)。通过STAR-CCM+流体仿真分析软件,在航速3 kn情况下,采用空间拘束法求解了V型翼的部分水动力系数,建立了V型翼水动力模型,并进行运动稳定性分析。外场试验数据分析结果显示,稳定拖曳状态下,舵角和V型翼纵倾角具有响应关系,对其进行公式推导,将计算值与实测数据进行对比,两者吻合程度较好。
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| 关 键 词： | V型翼 空间拘束法 水动力系数 稳定性 |
Research on hydrodynamic characteristics of towing device for autonomous recovery of AUV |
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| TANG Dong-sheng,GU Hai-tao,FENG Meng-meng,MENG Ling-shuai,CHEN Jia-lun,GAO Wei.Research on hydrodynamic characteristics of towing device for autonomous recovery of AUV[J].Ship Science and Technology,2021(3):107-114. |
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| Authors: | TANG Dong-sheng GU Hai-tao FENG Meng-meng MENG Ling-shuai CHEN Jia-lun GAO Wei |
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| Institution: | (State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016,China;University of Chinese Academy of Sciences,Beijing 100049,China) |
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| Abstract: | According to the recovery requirements for autonomous underwater vehicles(AUV)using unmanned surface vehicles(USV),a V-type towing device(V-shaped wing)is designed in this paper.First of all,part of the hydrodynamic coefficients of V-shaped wings were solved by the space captive motion method at the speed of 3kn based on the fluid simulation software STAR-CCM+,and the hydrodynamic model of V-shaped wing was established and the motion stability was also analyzed.Secondly,the lake test data shows that the rudder angle and V-shaped wings pitch angle have a response relationship under the condition of stable towing,and the formula is deduced.At last,the theoretical calculation value was compared with the measured data,and the result shows that they are in good agreement. |
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| Keywords: | V-shaped wing space captive motion method hydrodynamic coefficient stability |
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