长航程AUV螺旋桨的数值设计及试航验证
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摘要
基于RANS计算,开展长航程AUV螺旋桨的数值设计。该AUV设计航速仅2kn,要求阻力预报具有较高的精度;为此,各个方向的网格按相同尺度减小比率,设计了三套结构化网格,对阻力计算结果进行了数值不确定度分析。基于自航和敞水模拟,分析得到了实效伴流分布;应用升力线方法设计了适伴流最佳环量螺旋桨,采用螺旋桨进行了RANS自航模拟,预报了AUV的功率-转速-航速关系,并与湖试结果进行了初步比较,结果表明该方法具有良好的精度。
Based on RANS simulation, a numerical methodology of propeller design is developed for low-speed and long-range AUVs. As design speed of the AUV under consideration is only 2 knots, high accuracy of resistance prediction is required. Numerical uncertainty in resistance simulation is analyzed based on three sets of structured grids having a unified refinement ratio of the grid. Effective wake profile is predicted via self-propulsion and open-water simulation, where the propeller is simulated with a body-force model. An optimal propeller in non-uniform effective wake is designed by means of the lifting-line theory. The delivered power and rotational speed of the propeller are predicted via unsteady RANS simulation of self-propulsion. A comparison of the RANS-prediction with the trial test indicates that the present numerical methodology is effective and reasonably accurate for design of the propeller on the low-speed AUV and prediction of the powering performance.
Based on RANS simulation, a numerical methodology of propeller design is developed for low-speed and long-range AUVs. As design speed of the AUV under consideration is only 2 knots, high accuracy of resistance prediction is required. Numerical uncertainty in resistance simulation is analyzed based on three sets of structured grids having a unified refinement ratio of the grid. Effective wake profile is predicted via self-propulsion and open-water simulation, where the propeller is simulated with a body-force model. An optimal propeller in non-uniform effective wake is designed by means of the lifting-line theory. The delivered power and rotational speed of the propeller are predicted via unsteady RANS simulation of self-propulsion. A comparison of the RANS-prediction with the trial test indicates that the present numerical methodology is effective and reasonably accurate for design of the propeller on the low-speed AUV and prediction of the powering performance.
引文
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[4]高婷.潜水器螺旋桨和舵翼的优化设计[D].哈尔滨:哈尔滨工程大学,2013.
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[9]李龙,张宏伟,王延辉.无人自治水下航行器外形及推进系统优化设计[J].机械设计,2017,34(5):23-29.
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[12]蔡昊鹏,苏玉民.扭矩平衡式水下机器人推进器研究[J].船舶力学,2009,13(2):210-216.
[13]傅慧萍,THAD J M,CARRICA P M.一种基于体积力螺旋桨模型的自航计算方法[J].船舶力学,2015,19(7):791-796.
[14]熊鹰,刘志华.自航船模和实船推进因子的数值预报方法研究[J].船舶力学,2013,17(S1):14-18.
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[16]SáNCHEZ-CAJA A,MARTIO J,SAISTO I,et al.On the enhancement of coupling potential flow models to RANSsolvers for the prediction of propeller effective wakes[J].Journal of Marine Science and Technology,2015,20(1):104-117.
[17]RIJPKEMA D,STARKE B,BOSSCHERS J.Numerical simulation of propeller-hull interaction and determination of the effective wake field using a hybrid RANS-BEM approach[C]//Tasmania:3rd International Symposium on Marin Propulsors,2013.
[18]张楠,沈泓萃,姚惠之.阻力和流场的CFD不确定度分析探讨[J].船舶力学,2008,12(2):211-224.
[19]邹璐.浅水中低速斜航船舶水动力预报及验证与确认分析[J].船舶力学,2016,20(7):841-848.
[20]ITTC.Uncertainty analysis in CFD,verification and validation methodology and Procedures[R].Wuxi:ITTCRecommended Procedures and Guidelines 7.5-03-01-01,28th International Towing Tank Conference,2017.
[21]HOUGH G R,ORDWAY D E.The generalized actuator disk[R].AD-433976,1964.
[22]王国强,董世汤.船舶螺旋桨理论与应用[M].哈尔滨:哈尔滨工程大学出版社,2007.
[2]CRIMMINS D,DEACUTIS C,HINCHEY E,et al.Use of a long endurance solar powered autonomous underwater vehicle(SAUV II)to measure dissolved oxygen concentrations in Greenwich Bay,Rhode Island,USA[C]//Brest:OCEANS 2005-Europe.IEEE,2005,2:896-901.
[3]CAIRNS J,LARNICOl E,ANANTHAKRISHNAN P,et al.Design of AUV propeller based on a blade element method[C]//Nice:OCEANS'98.IEEE,1998,2:672-675.
[4]高婷.潜水器螺旋桨和舵翼的优化设计[D].哈尔滨:哈尔滨工程大学,2013.
[5]ALLOTTA B,PUGI L,BARTOLINI F,et al.Preliminary design and fast prototyping of an autonomous underwater vehicle propulsion system[J].Proceedings of the Institution of Mechanical Engineers,Part M:Journal of Engineering for the Maritime Environment,2015,229(3):248-272.
[6]ALLEN B,VORUS W S,PRESTERO T.Propulsion system performance enhancements on REMUS AUVs[C]//Providence,RI:OCEANS 2000.IEEE,2000,3:1869-1873.
[7]D'Epagnier K P.AUV propellers:Optimal design and improving existing propellers for greater efficiency[C]//.Boston,MA:OCEANS 2006.IEEE,2006,1:1-7.
[8]D'EPAGNIER K P.A computational tool for the rapid design and prototyping of propellers for underwater vehicles[D].Massachusetts:Massachusetts Institute of Technology,2007.
[9]李龙,张宏伟,王延辉.无人自治水下航行器外形及推进系统优化设计[J].机械设计,2017,34(5):23-29.
[10]HUSAINI M,SAMAD Z,ARSHAD M R.Optimum Design of URRG-AUV Propeller Using PVL[DB/OL].http://eprints.usm.my/13103/1/MV_Paper52_husaini.pdf.2008.
[11]BELLINGHAM J G,ZHANG Y,KERWIN J E,et al.Efficient propulsion for the Tethys long-range autonomous underwater vehicle[C]//.Monterey,CA:Autonomous Underwater Vehicles(AUV),2010 IEEE/OES.IEEE,2010:1-7.
[12]蔡昊鹏,苏玉民.扭矩平衡式水下机器人推进器研究[J].船舶力学,2009,13(2):210-216.
[13]傅慧萍,THAD J M,CARRICA P M.一种基于体积力螺旋桨模型的自航计算方法[J].船舶力学,2015,19(7):791-796.
[14]熊鹰,刘志华.自航船模和实船推进因子的数值预报方法研究[J].船舶力学,2013,17(S1):14-18.
[15]PHILLIPS A B,TURNOCK S R,FURLONG M.Comparisons of CFD simulations and in-service data for the self propelled performance of an autonomous underwater vehicle[C]//.Seoul:27th Symposium on Naval Hydrodynamics,Korea,2008.
[16]SáNCHEZ-CAJA A,MARTIO J,SAISTO I,et al.On the enhancement of coupling potential flow models to RANSsolvers for the prediction of propeller effective wakes[J].Journal of Marine Science and Technology,2015,20(1):104-117.
[17]RIJPKEMA D,STARKE B,BOSSCHERS J.Numerical simulation of propeller-hull interaction and determination of the effective wake field using a hybrid RANS-BEM approach[C]//Tasmania:3rd International Symposium on Marin Propulsors,2013.
[18]张楠,沈泓萃,姚惠之.阻力和流场的CFD不确定度分析探讨[J].船舶力学,2008,12(2):211-224.
[19]邹璐.浅水中低速斜航船舶水动力预报及验证与确认分析[J].船舶力学,2016,20(7):841-848.
[20]ITTC.Uncertainty analysis in CFD,verification and validation methodology and Procedures[R].Wuxi:ITTCRecommended Procedures and Guidelines 7.5-03-01-01,28th International Towing Tank Conference,2017.
[21]HOUGH G R,ORDWAY D E.The generalized actuator disk[R].AD-433976,1964.
[22]王国强,董世汤.船舶螺旋桨理论与应用[M].哈尔滨:哈尔滨工程大学出版社,2007.