长航程潜水器操纵性能与运动仿真研究
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摘要
海洋所蕴藏的巨大经济潜力以及在政治上的重要地位,在本世纪受到世界各国的广泛关注。在众多海洋技术中,续航力大、能达到各种潜深、并能完成多种作业任务的潜水器成为研究的重点。本文的研究对象即为一种能在较大海域执行复杂任务且具有持久续航能力的新型潜水器。
在潜水器综合性能中,操纵性是其重要的组成部分,是潜水器安全航行和充分发挥其战术水平的重要保证,也是潜水器总体性能设计的重点。对于潜水器性能的检测,运动仿真是重要的试验之一。运动仿真系统的成功建立不仅有助于潜水器操纵性能的预报,同时也为潜水器的智能控制设计和调试提供了平台。
本文以某长航程潜水器作为研究对象。首先,根据潜水器运动一般方程,建立了长航程潜水器六自由度空间运动的数学模型,并对该潜水器进行了受力分析。其次,根据本潜水器初步设计的模型,分别采用近似公式估算、基于势流理论的面元法和商用流体力学软件FLUENT模拟循环水槽试验三种方法求解潜水器的水动力系数。此后,进行模型循环水槽操纵性能试验,对试验数据处理并结果解算分析,并以该结果作为衡准值完成了对上述三种计算方法的评价,同时由试验也得到了适用于本运动方程的完整水动力系数集合。最后,分析潜水器操纵性能评价参数,建立运动仿真系统,仿真计算潜水器典型的空间运动,通过得到的曲线对潜水器操纵性能进行预报。
In recent years people have paid more and more attention to the ocean, on account of its huge economic potential and high political status. Among all of the ocean techniques, an underwater vehicle with abilities of long endurance and deep submerged distance becomes the key point of our researches. The object we studied in this thesis is a long-endurance submersible vehicle which can work in a wide-range sea area and deal with complex tasks.
Maneuverability is an important part of the vehicle's general abilities. A vehicle with excellent maneuverability will navigate safely and perform well in the war. The motion simulation system is a tool to forecast it.
In this thesis the six-degree freedom of motion equations were built and the forces needed to solve the equations were analyzed firstly. Secondly, hydrodynamic coefficients of the vehicle were calculated by three kinds of method following: approximate formula method, surface panel method and CFD software numerical simulation. All the calculated data were compared with experimental data. The applicability and precision of each method were given meanwhile hydrodynamic coefficients that needed in motion equations were presented. Finally, the motion simulation platform was built and the motion performance of the vehicle was analyzed. Simulation courves of typical movements were presented and the maneuverability of the underwater vehicle was also analyzed.
在潜水器综合性能中,操纵性是其重要的组成部分,是潜水器安全航行和充分发挥其战术水平的重要保证,也是潜水器总体性能设计的重点。对于潜水器性能的检测,运动仿真是重要的试验之一。运动仿真系统的成功建立不仅有助于潜水器操纵性能的预报,同时也为潜水器的智能控制设计和调试提供了平台。
本文以某长航程潜水器作为研究对象。首先,根据潜水器运动一般方程,建立了长航程潜水器六自由度空间运动的数学模型,并对该潜水器进行了受力分析。其次,根据本潜水器初步设计的模型,分别采用近似公式估算、基于势流理论的面元法和商用流体力学软件FLUENT模拟循环水槽试验三种方法求解潜水器的水动力系数。此后,进行模型循环水槽操纵性能试验,对试验数据处理并结果解算分析,并以该结果作为衡准值完成了对上述三种计算方法的评价,同时由试验也得到了适用于本运动方程的完整水动力系数集合。最后,分析潜水器操纵性能评价参数,建立运动仿真系统,仿真计算潜水器典型的空间运动,通过得到的曲线对潜水器操纵性能进行预报。
In recent years people have paid more and more attention to the ocean, on account of its huge economic potential and high political status. Among all of the ocean techniques, an underwater vehicle with abilities of long endurance and deep submerged distance becomes the key point of our researches. The object we studied in this thesis is a long-endurance submersible vehicle which can work in a wide-range sea area and deal with complex tasks.
Maneuverability is an important part of the vehicle's general abilities. A vehicle with excellent maneuverability will navigate safely and perform well in the war. The motion simulation system is a tool to forecast it.
In this thesis the six-degree freedom of motion equations were built and the forces needed to solve the equations were analyzed firstly. Secondly, hydrodynamic coefficients of the vehicle were calculated by three kinds of method following: approximate formula method, surface panel method and CFD software numerical simulation. All the calculated data were compared with experimental data. The applicability and precision of each method were given meanwhile hydrodynamic coefficients that needed in motion equations were presented. Finally, the motion simulation platform was built and the motion performance of the vehicle was analyzed. Simulation courves of typical movements were presented and the maneuverability of the underwater vehicle was also analyzed.
引文
[1]孙洪,李永祺.中国海洋高技术及其产业化发展战略研究[M].青岛:中国海洋大学出版社,2003
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[4]冯正平.国外自治水下机器人发展现状综述[J].鱼雷技术.2005(3):5-9页
[5]G.Griffiths,J.Jamieson,S.Mitchell and K.Rutherford.Energy Storage for Long Endurance AUVs.Proceedings of Advances in Technology for Underwater Vehicles[J].March London,England,2004:16-17P
[6]Yuh J,West M.Underwater robotics[J].Journal of Advanced Robotics,2001,15:609-639P
[7]封锡盛,刘永宽.自治式水下机器人研究丌发的现状和趋势[J].高技术通讯.1999(9):55-59,51页
[8]陈建平.我国潜水器发展状况及存在的问题[J].机器人技术与应用.1999,(2):7-9页
[9]施生达.潜艇操纵性[M].北京:国防工业出版社,1995
[10]Davidson,K.S.M.and Shift,L.I..Turning and Course Keeping Qualities of Ships[J].SNAME,1946
[11]Abkowitz,M.A..Lectures in Ship Hydrodynamics,Steering and Maneuverability.Hy-A Report No.Hy-5,1967
[12]小川杨弘外.“MMG报告”Ⅰ-Ⅴ,日本造船学会志.第575-578号,1977年,第616号,1980年
[13]Nornoto K.On the Steering Qualities of Ships[J].ISP,1957.7,No.35
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[15]蔡荣泉.关于船舶CFD的现状和一些认识[J].船舶.2002(1):29-37页
[16]A.Alan,B.Pritsker.Compilation of Definition of Simulation[J].Vol.33,No.2,August,1979
[17]熊光愣,肖田元,张燕云编著.计算机仿真应用[M].1988.1:1-3
[18]甘永,毛宇峰,万 磊,徐玉如.水下机器人半实物运动仿真系统的设计[J].系统仿真学报.2006,1 8(7):2026-2029页
[19]赵家敏,秦再白,庞永杰,雷磊.一种水下机器人集成仿真系统的设计[J].计算机仿真.2005,22(10):172-175页
[20]常文君,刘建成,于华南等.水下机器人运动控制与仿真的数学模型[J].船舶工程.2002(3):58-60页
[21]Li Ye,Liu Jian-cheng,Shen Ming-xue.Dynamics model of underwater robot motion control in 6 degrees of freedom[J].Journal of Harbin Institute of Technology,2005,12(4):456-459 P
[22]熊光楞等编著.控制系统仿真与模型处理[M].北京:科学出版社,1993.7
[23]陈厚泰.潜艇操纵性[M].北京:国防工业出版社,1978
[24]ITTC,Report of the Resistance and Flow Committee,Proc.21st ITTC,Trondheim,Norway,1996
[25]孙元泉,马运义,邓志纯.潜器和深潜器的现代操纵理论与应用[M].北京:国防工业出版社,2001
[26]戴遗山.舰船在波浪中运动的频域与时域势流理论[M].北京:国防工业出版社.1998,16-54页
[27]Fluent Inc.,Gambit Modeling Guide.Fluent Inc.,2003
[28]张亮,李云波.流体力学[M].哈尔滨:哈尔滨工程大学出版社,2006.8
[29]许维德.流体力学[M].北京:国防工业出版社,1988:181-192页
[30]张玲,谢殿伟.水下机器人惯性类水动力计算研究[J].船舶.2004(3):8-10页
[31]王福军.计算流体动力学分析--CFD软件原理与应用[M].北京:清华大学出版社,2004,18-81页
[32]杨亮.粘性流场中摆动尾鳍的水动力分析[D].哈尔滨:哈尔滨工程大学,2005
[33]王瑞金,张凯,王刚.Fluent技术基础与应用实例[M].北京:清华大学出版社,2007.2
[34]黄国梁,刘天威,卢军,楼连根.潜体近水面垂直面稳定性[J].上海交通大学学报.2000.10
[35]徐立.三维RANS方法数值解法及船舶尾流场的数值模拟方法[D].武汉交通科技大学,博士学位论文,1994
[36]潘子英,吴宝山.沈泓萃.CFD在潜艇操纵性水动力工程预报中的应用研究[J].船舶力学.2004.10
[37]谢伟,陈材侃,程尔升.船舶粘性流场计算的进展[J].研究与开发.1994(3)
[38]苏玉民,庞永杰.潜艇原理[M].哈尔滨:哈尔滨工程大学出版社,2005.1
[39]范尚雍.船舶操纵性[M].北京:国防工业出版社,1988
[40]FLUENT Inc.,FLUENT User's Guide[M].FLUENT Inc.,2003
[41]FLUENT Inc.,FLUENT User Defined Function Manual[M].FLUENT Inc.,2003
[42]Sarkar N,Podder K T Motion coordination of underwater vehicle-manipulator systems subject to drag[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].1999,1:387-392P
[43]J.H.Ferziger.M.Peric.Computational Methods for Fluid Dynamics[J].New York,1996:21-60
[44]常文田.垂直平面运动机构的分析与研究[D].哈尔滨:哈尔滨工程大学,2005
[45]余培明,萧先镛.船模实验用小型平面运动机构的研究[J].武汉造船.1997.2
[46]蒲俊,吉家峰.Matlab工程数学解题指导[M].上海:浦东电子出版社,2001
[47]王燕飞,朱军,张振山.评估水动力系数对潜艇操纵性影响的一种方法[J].船舶力学.2005(10):61-68页
[48]倪绍毓,和应军.水动力系数对潜艇运动响应的影响[J].船工科 技.1984,12-37页
[49]Debabrata Sen.A study on sensitivity of maneuverability performance on the hydrodynamic coefficients for submerged bodies[J].Journal of Ship Research,2000,44(3):186-196P
[50]Cristi R,Caccia M,Veruggio G.Motion estimation and modeling of the environment for underwater vehicle[J].International Journal of Systems Science,1998,29(10):1135-1143 P
[51]McMillan S,Orin D E,McGhee R B.Compulational framework for simulation of underwater robotic vehicle systems[J].Autonomous Robots,1996,3(2-3):253-268 P
[52]胡坤,吴超.潜艇垂直面运动仿真及分析[J].青岛大学学报.2003年12月,第16卷第4期
[53]徐亦凡.潜艇操纵原理与方法[M].北京:兵器工业出版社,2002
[54]刘振明,潜伟建,夏志澜.水下机器人平面运动稳定性分析[J].船舶工程.2004,第26卷第三期
[55]林洋.小襟翼对自治水下机器人潜浮运动的影响[J].机器人.1997,19(1):35-43
[56]成巍,孙俊岭,戴杰,袁剑平,徐玉如.仿生水下机器人运动仿真技术研究[J].系统仿真学报.2005(3):11-15页
[57]王京齐.潜艇空间运动操纵方式及安全性分析[J].武汉造船.2001(3)
[2]蒋新松,封锡盛,王棣棠.水下机器人[M].沈阳:辽宁科学技术出版社,2000
[3]燕奎臣,李一平,袁学庆.远程自治水下机器人研究[J].机器人.2002,24(4):299-303页
[4]冯正平.国外自治水下机器人发展现状综述[J].鱼雷技术.2005(3):5-9页
[5]G.Griffiths,J.Jamieson,S.Mitchell and K.Rutherford.Energy Storage for Long Endurance AUVs.Proceedings of Advances in Technology for Underwater Vehicles[J].March London,England,2004:16-17P
[6]Yuh J,West M.Underwater robotics[J].Journal of Advanced Robotics,2001,15:609-639P
[7]封锡盛,刘永宽.自治式水下机器人研究丌发的现状和趋势[J].高技术通讯.1999(9):55-59,51页
[8]陈建平.我国潜水器发展状况及存在的问题[J].机器人技术与应用.1999,(2):7-9页
[9]施生达.潜艇操纵性[M].北京:国防工业出版社,1995
[10]Davidson,K.S.M.and Shift,L.I..Turning and Course Keeping Qualities of Ships[J].SNAME,1946
[11]Abkowitz,M.A..Lectures in Ship Hydrodynamics,Steering and Maneuverability.Hy-A Report No.Hy-5,1967
[12]小川杨弘外.“MMG报告”Ⅰ-Ⅴ,日本造船学会志.第575-578号,1977年,第616号,1980年
[13]Nornoto K.On the Steering Qualities of Ships[J].ISP,1957.7,No.35
[14]吴秀恒,刘祖源,施生达,冯学知.船舶操纵性[M].北京:国防工业出版社,2005
[15]蔡荣泉.关于船舶CFD的现状和一些认识[J].船舶.2002(1):29-37页
[16]A.Alan,B.Pritsker.Compilation of Definition of Simulation[J].Vol.33,No.2,August,1979
[17]熊光愣,肖田元,张燕云编著.计算机仿真应用[M].1988.1:1-3
[18]甘永,毛宇峰,万 磊,徐玉如.水下机器人半实物运动仿真系统的设计[J].系统仿真学报.2006,1 8(7):2026-2029页
[19]赵家敏,秦再白,庞永杰,雷磊.一种水下机器人集成仿真系统的设计[J].计算机仿真.2005,22(10):172-175页
[20]常文君,刘建成,于华南等.水下机器人运动控制与仿真的数学模型[J].船舶工程.2002(3):58-60页
[21]Li Ye,Liu Jian-cheng,Shen Ming-xue.Dynamics model of underwater robot motion control in 6 degrees of freedom[J].Journal of Harbin Institute of Technology,2005,12(4):456-459 P
[22]熊光楞等编著.控制系统仿真与模型处理[M].北京:科学出版社,1993.7
[23]陈厚泰.潜艇操纵性[M].北京:国防工业出版社,1978
[24]ITTC,Report of the Resistance and Flow Committee,Proc.21st ITTC,Trondheim,Norway,1996
[25]孙元泉,马运义,邓志纯.潜器和深潜器的现代操纵理论与应用[M].北京:国防工业出版社,2001
[26]戴遗山.舰船在波浪中运动的频域与时域势流理论[M].北京:国防工业出版社.1998,16-54页
[27]Fluent Inc.,Gambit Modeling Guide.Fluent Inc.,2003
[28]张亮,李云波.流体力学[M].哈尔滨:哈尔滨工程大学出版社,2006.8
[29]许维德.流体力学[M].北京:国防工业出版社,1988:181-192页
[30]张玲,谢殿伟.水下机器人惯性类水动力计算研究[J].船舶.2004(3):8-10页
[31]王福军.计算流体动力学分析--CFD软件原理与应用[M].北京:清华大学出版社,2004,18-81页
[32]杨亮.粘性流场中摆动尾鳍的水动力分析[D].哈尔滨:哈尔滨工程大学,2005
[33]王瑞金,张凯,王刚.Fluent技术基础与应用实例[M].北京:清华大学出版社,2007.2
[34]黄国梁,刘天威,卢军,楼连根.潜体近水面垂直面稳定性[J].上海交通大学学报.2000.10
[35]徐立.三维RANS方法数值解法及船舶尾流场的数值模拟方法[D].武汉交通科技大学,博士学位论文,1994
[36]潘子英,吴宝山.沈泓萃.CFD在潜艇操纵性水动力工程预报中的应用研究[J].船舶力学.2004.10
[37]谢伟,陈材侃,程尔升.船舶粘性流场计算的进展[J].研究与开发.1994(3)
[38]苏玉民,庞永杰.潜艇原理[M].哈尔滨:哈尔滨工程大学出版社,2005.1
[39]范尚雍.船舶操纵性[M].北京:国防工业出版社,1988
[40]FLUENT Inc.,FLUENT User's Guide[M].FLUENT Inc.,2003
[41]FLUENT Inc.,FLUENT User Defined Function Manual[M].FLUENT Inc.,2003
[42]Sarkar N,Podder K T Motion coordination of underwater vehicle-manipulator systems subject to drag[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].1999,1:387-392P
[43]J.H.Ferziger.M.Peric.Computational Methods for Fluid Dynamics[J].New York,1996:21-60
[44]常文田.垂直平面运动机构的分析与研究[D].哈尔滨:哈尔滨工程大学,2005
[45]余培明,萧先镛.船模实验用小型平面运动机构的研究[J].武汉造船.1997.2
[46]蒲俊,吉家峰.Matlab工程数学解题指导[M].上海:浦东电子出版社,2001
[47]王燕飞,朱军,张振山.评估水动力系数对潜艇操纵性影响的一种方法[J].船舶力学.2005(10):61-68页
[48]倪绍毓,和应军.水动力系数对潜艇运动响应的影响[J].船工科 技.1984,12-37页
[49]Debabrata Sen.A study on sensitivity of maneuverability performance on the hydrodynamic coefficients for submerged bodies[J].Journal of Ship Research,2000,44(3):186-196P
[50]Cristi R,Caccia M,Veruggio G.Motion estimation and modeling of the environment for underwater vehicle[J].International Journal of Systems Science,1998,29(10):1135-1143 P
[51]McMillan S,Orin D E,McGhee R B.Compulational framework for simulation of underwater robotic vehicle systems[J].Autonomous Robots,1996,3(2-3):253-268 P
[52]胡坤,吴超.潜艇垂直面运动仿真及分析[J].青岛大学学报.2003年12月,第16卷第4期
[53]徐亦凡.潜艇操纵原理与方法[M].北京:兵器工业出版社,2002
[54]刘振明,潜伟建,夏志澜.水下机器人平面运动稳定性分析[J].船舶工程.2004,第26卷第三期
[55]林洋.小襟翼对自治水下机器人潜浮运动的影响[J].机器人.1997,19(1):35-43
[56]成巍,孙俊岭,戴杰,袁剑平,徐玉如.仿生水下机器人运动仿真技术研究[J].系统仿真学报.2005(3):11-15页
[57]王京齐.潜艇空间运动操纵方式及安全性分析[J].武汉造船.2001(3)