多自由度控制水下拖曳体水动力响应研究.docxVIP

多自由度控制水下拖曳体水动力响应研究 摘要：本文根据一种已提出的水下拖曳体三维水动 力数学模型，利用FORTRAN语言重新编制计算程序，并通过 与FLUENT软件对接实现水下拖曳系统六自由度的动态模拟。 在该数学模型中，脐带缆的控制方程采用Ab low and Schechter模型，拖曳体的水动力状态由Gertler and Hargen 六自由度运动方程来描述，拖曳体所受的水动力通过FLUENT 软件求解N-S方程得到。计算结果表明：迫沉水翼、垂直尾 翼控制都能比较灵活地控制水下拖曳体，这表明本文的数学 模型和所采用的模拟方法能够比较准确地模拟出整个拖曳 系统在拖曳过程中的动力响应状态。本文所提出的数值分析 方法可以为水下拖曳体的研发和改进提供一种前期设计准 备的数值手段。 关键词：水下拖曳体；迫沉水翼；垂直尾翼；运动响应 Hydrodynamic Response Analysis of Underwater Towed Vehicle Under Multi-Degree-of—Freedom Control Jin Xiao-dong, Wu Jia-ming (School of Traffic and Communications, South China Univ. of Tech?, Guangzhou 510640 ) Abstract： In this paper, according an underwater to wed vehicle 3D hydrodynamic mathematical model, and using FORTRAN language to program, and through docking FLUNT software to come true six—degrees—freedom dynamic Simulation of underwater towed system. In the mathematical modeL Ab1ow and Schechter model is used to the control equation of cable, and drag hydrodynamic state body is described by Ger tier and Hargen six degree of freedom motion equation. In this study , the hydrodynamic were obtained by FLUENT software for solving N~S equation . The resuIts indicate that: depressing airfoil , vertical airfoil control can flexibly control the underwater towed vehicle, which indicates that the Simulation method and the mathematical model can accurately simulate the state of motion response of the whole towed system during the towing . Numerical analysis method proposed in this paper can be used for the development of imderwater to wed vehicle and provides a numerical method for preliminary design . Key words： underwater towed vehicle； depressing airfoil； vertical airfoil； motion response 1前言 水下拖曳体是一种广泛应用于海洋研究、海洋监测与军 事等领域的水下探测设备，它在海洋环境与海洋资源调查以 及国防建设中有着特殊的用途。拖曳体通常由拖船进行拖 曳，拖曳体内可根据不同用途搭载不同的海洋化学元素探测 传感器或物理探测传感器。水下拖曳体要求在作业过程中具 有快速灵活的轨迹与姿态调节与控制能力，要实现该目的， 首先必须要能够比较准确的对拖曳系统的水动力进行模拟 与预测。如何在水下拖曳系统研究开发初期对其水动力进行 预测和模拟，是能否开发成功新型水下拖曳体的关键。 近年来，国内外研究人员对水下拖曳系统的水动力特性 作了很多有益的探索和研究。目前，对水下拖曳系统的水动 力特性的数值分析主要根据Ab low and Sche