复杂外形潜水器的动力学建模

为建立复杂外形潜水器精确的动力学模型,并基于模型设计控制算法,本文以DOE HD2+2无人遥控潜水器(ROV)为对象,应用计算流体力学(CFD)粘流方法与面元法预测水动力系数.为提高计算速度,在保证计算精度的前提下,采用多面体网格,进行网格优化,减少了流体域的网格总数.由于ROV几何外形不对称,基于最小二乘法分段拟合了阻尼力/力矩与速度的曲线,建立了耦合的阻尼矩阵和附加质量矩阵.最后,基于CFD计算的水动力系数建立了Matlab Simulink动力学仿真模型,并通过水池操控实验对所建动力学模型进行了有效性验证.

Dynamic modeling of complex-shaped underwater vehicle

As a complex-shaped underwater vehicle, DOE HD2+2 remotely operated vehicle (ROV) is chosen as anob-ject to compute hydrodynamic parameters. It is necessary for nonlinear modeling of complex-shaped underwater vehicle and model-based control system design. Damping coefficients and added mass coefficients are determined by computationalflu-id dynamics (CFD) viscous flow method and panel method. Instead of tetrahedral mesh, polyhedral mesh is adopted toim-prove the computational time. And mesh is optimized to reduce the total number of grids in the flow domain. Due to the asymmetry of geometry shape of ROV, the curves of damping force and moment versus velocity are piecewise fitted.Fi-nally, the dynamic simulation model of ROV is established by Matlab Simulink based on hydrodynamic coefficientsdeterm-ined by CFD, and the validity of dynamic model is validated by pool experiment.