小型球形潜水器喷水推进系统设计及数值分析
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摘要
本文针对小型球形潜水器因其完全对称的形状，在各个方向受到的阻力相同的特点，使用传统的螺旋桨或导管螺旋桨推进系统难以满足小型球形潜水器运行需求的难点问题，提出使用内流式的喷水推进系统用于小型球形潜水器的推进，喷水推进系统安装在潜水器的内部，由四个喷水推进装置组成喷水推进系统，喷水推进系统四个喷口设计在潜水器的后部，组成一个推进面，通过改变喷口喷射水流的流量，引起推进面的变形，操纵小型球形潜水器运动。这种设计方法能够很好地控制喷水推进泵产生的噪音，基本上不产生由于推进装置的安装增加的附体阻力。通过对这种全新的喷水推进系统形成推进面推进小型球形潜水器的推进方式研究，解决当今操纵小型球形潜水器的技术难题。
目前，国内外的研究者对应用于大中型船舶的喷水推进系统进行了广泛深入的研究，对于本文应用于小型球形潜水器的小尺寸喷水推进系统推进小型球形潜水器方式、推进系统入口对小型球形潜水器的影响、喷水推进系统多个喷口喷射水流互相耦合对小型球形潜水器的影响和喷水推进系统驱动小型球形潜水器的运行参数等研究很少涉及。本文针对上述问题，结合小型球形潜水器的特点进行了研究，主要研究工作如下：
1、在参阅分析大量国内外潜水器、球形潜水器和喷水推进系统研究成果的基础上，分析了小型球形潜水器形状和水下运行阻力的特点，指出使用一个喷水推进装置形成的点推进方式和两个喷水推进装置的线推进方式很难达到小型球形潜水器运动需求，设计了使用喷水推进系统的面推进方式推进小型球形潜水器的方案，方案为小型球形潜水器内部进水，通过统一入口与外部流体交换水流，四个喷水推进装置布置在小型球形潜水器内部通过导管连接到壳体的喷口上，喷口喷射水流形成推进面，通过推进面变形推进小型球形潜水器运动。
2、利用喷水推进系统的入口速度分布不均匀性现象与入口速度比IVR相关的特点，提出喷水推进系统使用统一入口降低/巧?，来消除入口速度分布不均匀性现象对小型球形潜水器的影响这个技术难题。结合小型球形潜水器自身特点，应用FLUENT软件分析了喷水推进系统统一入口在不同/巧？条件下，对小型球形潜水器航速的影响，即在/视^0.5时可以消除喷水推进系统统一入口速度分布不均匀性现象的出现。使用数值计算数据验证了优化方法的可行性，并对本文设计的喷水推进系统优化后的统一入口面积进行了数值计算，提出在小型球形潜水器最高速度达到lm/s时，小型球形潜水器统一的入口面积至少应该设计为50cm2。
3、设计的喷水推进系统是由四个喷水推进装置组成推进面推进小型球形潜水器运动，四个喷口喷射出的水流互相的干扰不可避免的会对小型球形潜水器的运行产生影响，针对这个目前其他研究者很少涉及的问题，通过对喷水推进系统喷口喷射出来水流的理论分析，结合小型球形潜水器喷口设计的特点，提出当喷水推进系统相邻的两个喷口圆心与球心连线的的半角0=2.480°时，能够最大可能地保证喷水推进系统为小型球形潜水器即能提供加速所需的最大效率推力，又能提供姿态调整的最大扭矩，减小喷射水流对小型球形潜水器影响的优化方法，并用数值分析的方法进行了仿真，仿真结果表明优化方案符合喷水推进系统喷口设计的要求。
4、喷水推进系统设计在小型球形潜水器后部，由四个喷水推进装置的喷口喷射水流组成一个推进面推进小型球形潜水器运动，用数值分析的方法对推进面推进小型球形潜水器方式进行了详细的分析，通过与国内外的研究者研究的典型潜水器比较，小型球形潜水器喷水推进系统推进面操纵性能能够达到使用四个导管螺旋桨和方向舵的鱼雷形潜水器效果。
5、由于设计小型球形潜水器直径为0.3m，潜水器内部的空间有限，安装在这个小型潜水器上的四个喷水推进装置为小尺寸推进泵，已经成型的大型喷水推进系统运行状况的研究结果不适用于这种小型的推进系统。本文通过壁面积分数值分析方法，结合试验得到了详细的小型球形潜水器喷水推进系统的运行状态数据，对喷水推进系统产生的垂直方向力学分量对推力和喷口压力的影响进行了分析，分析结果表明本文设计的喷水推进系统fFRd5可以忽略这种影响，对喷水推进系统推进小型球形潜水器的空间运动进行了数值分析，分析结果表明喷水推进的小型球形潜水器能够实现空间运动，基本上能够实现原地回转，最小回转半径0.018m。
The small spherical submersible due to the symmetrical shape, have the same resistancein all directions, using a conventional propeller or ducted propeller propulsion system isdiiffcult to meet the needs of small spherical submersible running problems, put forwardusing the propiision system for small spherical submarine propulsion, water-jet jet propulsionsystem installed in the submersible internal, consisting of water-jet propulsion system consistsof four water-jet propulsion system, jet propulsion rear system four nozzle design in divingapparatus, consisting of a face, by changing the nozzle jet lfow, the deformation caused bypromoting, small spherical submersible maneuvering motion. This design method couldcontrol the water-jet pimp noise，basically does not produce the appendage resistance andpropulsion devices increase. By spraying wateron the new propulsion system to promote theresearch way, solve the technical problemsof today's manipulation of small sphericalsubmersibles.
The present domestic and foreign researchon applied to large and medium-sized marinewater-jet propulsion system conducted in-depth research, for the purpose of this paper isapplied to a small spherical submersible small size water-jet propulsion system promote thesubmersible propulsion system way, entrance for small spherical submersible impact, multiplejet propulsion nozzle jet lfow coupled to each other small spherical submersibles and theeffects of water-jet propulsion system driving a small spherical vehicle operating parametersresearch very little involves the. This article in view of the above problems, combined with asmall spherical submersible characteristics were studied, the main research work is asfollows:
1. Refer to the analysis of the domestic and foreign submairne, spherical submersiblesand water-jet propulsion system on the basis of research results, analysis of spherical shapeand small submersible underwater running resistance characteristics, pointed out that the useof a water-jet propulsion unit formed the advance mode and two water-jet propulsion deviceline propulsion mode is dififcult to achieve a small spherical submersible motor needs，designthe use of water-jet propulsion system to advance the way small spherical submersiblescheme, scheme for small spherical submersible internal water, through a uniifed entrancewith external lfuid exchange lfow，ofur water-jet propulsion device is arranged in the smallspherical submersible interior through the catheter is connected to the casing nozzle ejectorwater, promote the formation of surface, through the promotion of surface deformation pushing small spherical submersible motor.
2. Water-jet propulsion system entrance velocity distribution non-uniformity phenomenaand entrance velocity ratio IVR correlation, put forward water-jet propulsion system can usethe uniifed entrance to reduce IVR eliminate entrance velocity distribution non-uniformityphenomena on a small spherical submersible effects, combined with a small spherical divingdevice characteristic, applied FLUENT software to analyze the water-jet propulsion theimiifed entrance imder different IVR conditions, on a small spherical submersible speed, geton IVRdS can solve the water-jet propulsion system imiifed entrance velocity distirbutionimevenness phenomenon, the use of numerical data proved that the optimization method isfeasible, and the design of water-jet propulsion system after optimization of the uniifedentrance area numerical computation is carired out, raised in a small spherical submersiblereached a maximum speed of lm/s, a small spherical submersible imiifed entrance area atleast should be designed as50cm2.
3. Design of water-jet propulsion system is composed of four water-jet propulsion unitadvance advance small spherical submersible motor, through the water-jet propulsion systemout of the jet lfow nozzle theoretical analysis, combined with the small spherical submersiblenozzle design characteristic, put forward water-jet propulsion system of the two adjacentnozzle circle and sphere the angle0=2°.480to maximize the probability that the water-jetpropulsion system for small spherical diving device that can provide acceleration needed ofrmaximum eiffciency of thrust, and can provide attitude adjustment of the maximum torque,reducing the injection water lfow on the impact of small spherical submersible optimizationmethod, and the numerical analysis method of simulation simulation results show that theoptimized scheme，with water-jet propulsion system vent design requirements.
4. Water-jet propulsion system design in small spherical submersible rear, composed offour water-jet propulsion imit nozzle jet composed of a pushing surface pushing smallspherical submersible motor, with the method of numerical analysis advance advance smallspherical submersible mode are analyzed in detail, with domestic and foreign research typicalsubmarine, a small spherical submersible water-jet propulsion system manipulationperformance can be achieved using four propeller and rudder torpedo shaped submersibleeffect.
5. In order to meet the needs of design task, a small spherical submersible0.3m diameter.Submersible internal space is limited, installed in the small submarine on the four water-jetpropulsion unit for small size propulsion pimp, already formed large water-jet propulsionsystem operation situation results do not apply to this small propulsion system. This article through the wall surface integral numerical analysis method, combining with the test to get adetailed miniature spherical submersible propulsion system operation status data, on water-jetpropulsion system generated perpendicular to the direction of the mechanical components ofthe thrust and nozzle pressure were analyzed, the paper design of water-jet propulsion systemIVR^0.5can ignore this effect, on the water-jet propulsion system of small sphericalsubmarine space motion was studied by numerical analysis, analysis results show that thewater-jet propulsion of small spherical diving device can achieve space motion, basically toachieve the minimum turning radius of gyration,0.018m.
目前，国内外的研究者对应用于大中型船舶的喷水推进系统进行了广泛深入的研究，对于本文应用于小型球形潜水器的小尺寸喷水推进系统推进小型球形潜水器方式、推进系统入口对小型球形潜水器的影响、喷水推进系统多个喷口喷射水流互相耦合对小型球形潜水器的影响和喷水推进系统驱动小型球形潜水器的运行参数等研究很少涉及。本文针对上述问题，结合小型球形潜水器的特点进行了研究，主要研究工作如下：
1、在参阅分析大量国内外潜水器、球形潜水器和喷水推进系统研究成果的基础上，分析了小型球形潜水器形状和水下运行阻力的特点，指出使用一个喷水推进装置形成的点推进方式和两个喷水推进装置的线推进方式很难达到小型球形潜水器运动需求，设计了使用喷水推进系统的面推进方式推进小型球形潜水器的方案，方案为小型球形潜水器内部进水，通过统一入口与外部流体交换水流，四个喷水推进装置布置在小型球形潜水器内部通过导管连接到壳体的喷口上，喷口喷射水流形成推进面，通过推进面变形推进小型球形潜水器运动。
2、利用喷水推进系统的入口速度分布不均匀性现象与入口速度比IVR相关的特点，提出喷水推进系统使用统一入口降低/巧?，来消除入口速度分布不均匀性现象对小型球形潜水器的影响这个技术难题。结合小型球形潜水器自身特点，应用FLUENT软件分析了喷水推进系统统一入口在不同/巧？条件下，对小型球形潜水器航速的影响，即在/视^0.5时可以消除喷水推进系统统一入口速度分布不均匀性现象的出现。使用数值计算数据验证了优化方法的可行性，并对本文设计的喷水推进系统优化后的统一入口面积进行了数值计算，提出在小型球形潜水器最高速度达到lm/s时，小型球形潜水器统一的入口面积至少应该设计为50cm2。
3、设计的喷水推进系统是由四个喷水推进装置组成推进面推进小型球形潜水器运动，四个喷口喷射出的水流互相的干扰不可避免的会对小型球形潜水器的运行产生影响，针对这个目前其他研究者很少涉及的问题，通过对喷水推进系统喷口喷射出来水流的理论分析，结合小型球形潜水器喷口设计的特点，提出当喷水推进系统相邻的两个喷口圆心与球心连线的的半角0=2.480°时，能够最大可能地保证喷水推进系统为小型球形潜水器即能提供加速所需的最大效率推力，又能提供姿态调整的最大扭矩，减小喷射水流对小型球形潜水器影响的优化方法，并用数值分析的方法进行了仿真，仿真结果表明优化方案符合喷水推进系统喷口设计的要求。
4、喷水推进系统设计在小型球形潜水器后部，由四个喷水推进装置的喷口喷射水流组成一个推进面推进小型球形潜水器运动，用数值分析的方法对推进面推进小型球形潜水器方式进行了详细的分析，通过与国内外的研究者研究的典型潜水器比较，小型球形潜水器喷水推进系统推进面操纵性能能够达到使用四个导管螺旋桨和方向舵的鱼雷形潜水器效果。
5、由于设计小型球形潜水器直径为0.3m，潜水器内部的空间有限，安装在这个小型潜水器上的四个喷水推进装置为小尺寸推进泵，已经成型的大型喷水推进系统运行状况的研究结果不适用于这种小型的推进系统。本文通过壁面积分数值分析方法，结合试验得到了详细的小型球形潜水器喷水推进系统的运行状态数据，对喷水推进系统产生的垂直方向力学分量对推力和喷口压力的影响进行了分析，分析结果表明本文设计的喷水推进系统fFRd5可以忽略这种影响，对喷水推进系统推进小型球形潜水器的空间运动进行了数值分析，分析结果表明喷水推进的小型球形潜水器能够实现空间运动，基本上能够实现原地回转，最小回转半径0.018m。
The small spherical submersible due to the symmetrical shape, have the same resistancein all directions, using a conventional propeller or ducted propeller propulsion system isdiiffcult to meet the needs of small spherical submersible running problems, put forwardusing the propiision system for small spherical submarine propulsion, water-jet jet propulsionsystem installed in the submersible internal, consisting of water-jet propulsion system consistsof four water-jet propulsion system, jet propulsion rear system four nozzle design in divingapparatus, consisting of a face, by changing the nozzle jet lfow, the deformation caused bypromoting, small spherical submersible maneuvering motion. This design method couldcontrol the water-jet pimp noise，basically does not produce the appendage resistance andpropulsion devices increase. By spraying wateron the new propulsion system to promote theresearch way, solve the technical problemsof today's manipulation of small sphericalsubmersibles.
The present domestic and foreign researchon applied to large and medium-sized marinewater-jet propulsion system conducted in-depth research, for the purpose of this paper isapplied to a small spherical submersible small size water-jet propulsion system promote thesubmersible propulsion system way, entrance for small spherical submersible impact, multiplejet propulsion nozzle jet lfow coupled to each other small spherical submersibles and theeffects of water-jet propulsion system driving a small spherical vehicle operating parametersresearch very little involves the. This article in view of the above problems, combined with asmall spherical submersible characteristics were studied, the main research work is asfollows:
1. Refer to the analysis of the domestic and foreign submairne, spherical submersiblesand water-jet propulsion system on the basis of research results, analysis of spherical shapeand small submersible underwater running resistance characteristics, pointed out that the useof a water-jet propulsion unit formed the advance mode and two water-jet propulsion deviceline propulsion mode is dififcult to achieve a small spherical submersible motor needs，designthe use of water-jet propulsion system to advance the way small spherical submersiblescheme, scheme for small spherical submersible internal water, through a uniifed entrancewith external lfuid exchange lfow，ofur water-jet propulsion device is arranged in the smallspherical submersible interior through the catheter is connected to the casing nozzle ejectorwater, promote the formation of surface, through the promotion of surface deformation pushing small spherical submersible motor.
2. Water-jet propulsion system entrance velocity distribution non-uniformity phenomenaand entrance velocity ratio IVR correlation, put forward water-jet propulsion system can usethe uniifed entrance to reduce IVR eliminate entrance velocity distribution non-uniformityphenomena on a small spherical submersible effects, combined with a small spherical divingdevice characteristic, applied FLUENT software to analyze the water-jet propulsion theimiifed entrance imder different IVR conditions, on a small spherical submersible speed, geton IVRdS can solve the water-jet propulsion system imiifed entrance velocity distirbutionimevenness phenomenon, the use of numerical data proved that the optimization method isfeasible, and the design of water-jet propulsion system after optimization of the uniifedentrance area numerical computation is carired out, raised in a small spherical submersiblereached a maximum speed of lm/s, a small spherical submersible imiifed entrance area atleast should be designed as50cm2.
3. Design of water-jet propulsion system is composed of four water-jet propulsion unitadvance advance small spherical submersible motor, through the water-jet propulsion systemout of the jet lfow nozzle theoretical analysis, combined with the small spherical submersiblenozzle design characteristic, put forward water-jet propulsion system of the two adjacentnozzle circle and sphere the angle0=2°.480to maximize the probability that the water-jetpropulsion system for small spherical diving device that can provide acceleration needed ofrmaximum eiffciency of thrust, and can provide attitude adjustment of the maximum torque,reducing the injection water lfow on the impact of small spherical submersible optimizationmethod, and the numerical analysis method of simulation simulation results show that theoptimized scheme，with water-jet propulsion system vent design requirements.
4. Water-jet propulsion system design in small spherical submersible rear, composed offour water-jet propulsion imit nozzle jet composed of a pushing surface pushing smallspherical submersible motor, with the method of numerical analysis advance advance smallspherical submersible mode are analyzed in detail, with domestic and foreign research typicalsubmarine, a small spherical submersible water-jet propulsion system manipulationperformance can be achieved using four propeller and rudder torpedo shaped submersibleeffect.
5. In order to meet the needs of design task, a small spherical submersible0.3m diameter.Submersible internal space is limited, installed in the small submarine on the four water-jetpropulsion unit for small size propulsion pimp, already formed large water-jet propulsionsystem operation situation results do not apply to this small propulsion system. This article through the wall surface integral numerical analysis method, combining with the test to get adetailed miniature spherical submersible propulsion system operation status data, on water-jetpropulsion system generated perpendicular to the direction of the mechanical components ofthe thrust and nozzle pressure were analyzed, the paper design of water-jet propulsion systemIVR^0.5can ignore this effect, on the water-jet propulsion system of small sphericalsubmarine space motion was studied by numerical analysis, analysis results show that thewater-jet propulsion of small spherical diving device can achieve space motion, basically toachieve the minimum turning radius of gyration,0.018m.
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