Jiangsu University of Science and Technology
The National Natural Science Foundation of China (General Program, Key Program, Major Research Plan)
随着水下机器人(Remotely Operated Vehicle, ROV)广泛应用于海洋研究开发的诸多领域，其水动力数值计算越来越受到重视。基于流体动力学(Computational Fluid Dynamics, CFD)理论，根据剪切应力传输模型(Shear Stress Transfer，SST) 湍流模型数值求解和雷诺平均方程(Reynolds equation，RANS)的原理，通过切割体网格划分法计算三自由度运动模式下ROV的二阶阻尼系数和线性阻尼系数、ROV附加质量，建立了ROV三自由度动力学模型。采用STARCCM+计算单个导管螺旋桨的各水动力数值，考虑ROV对导管螺旋桨的影响计算其水动力性能，在此基础上，进行ROV动力与阻力的匹配，提出一种基于回归曲线法的航速预报方法，实现了ROV航速的预报。结果表明：单独螺旋桨产生的推力之和可作为ROV的总推力；在固定螺旋桨转速的情况下，在预估航速附近设置多个航速点，通过迭代法和回归曲线的方法确定此转速下推力与阻力相等的航速点，可以实现螺旋桨不同转速下ROV航速的预报。
With the widespread application of ROV in many fields of ocean research and operation, its hydrodynamic numerical calculation has attracted more and more attention. Based on the Computational Fluid Dynamics (CFD) theory, according to the Shear Stress Transfer(SST） turbulence model numerical solution and the principle of Reynolds equation(RANS), the second-order damping coefficient, linear damping coefficient and additional mass of ROV were calculated by the cut volume meshes method, so as to establish the three-degree-of-freedom ROV dynamic model. The hydrodynamic value of a single ducted propeller was calculated with the help of software STARCCM+, and the hydrodynamic performance of the ducted propeller was calculated by considering the influence of ROV. On this basis, the matching of ROV's power and resistance was conducted, and a speed prediction method based on regression curve method was proposed to realize the ROV's speed prediction. The results show that, the sum of the thrust generated by the individual propeller can be used as the total thrust of the ROV; Under the condition of fixed propeller speed, multiple speed points are set near the estimated speed, the iteration method and regression curve method were used to determine the speed point with equal thrust and resistance at this speed, so as to realize the ROV speed prediction at different propeller speeds.