自主水下机器人下潜困难问题的数值仿真与试验研究

摘要

自主水下机器人在近水面运动时，受到文丘里效应产生向上吸力的影响，使得潜器初始下潜困难，近水面的深度保持能力也受到影响。为了研究水下潜器近水面下潜困难问题，文章运用计算流体力学（CFD）软件对某AUV主体周围流场进行近水面数值模拟。模拟结果表明，影响升力和抬头力矩的主要因素是初始的下潜深度和速度。水域试验表明随着初始下潜深度的增加，AUV 的下潜将变得越来越容易，这与模拟结果相一致。%When an Autonomous Underwater Vehicle dives near free surface, it is influenced by up-ward suction force, as a function of Venturi effect, which makes it difficult for the underwater vehi-cle to dive and maintain a constant depth. In order to research the above problem, this paper simu-lates the flow field around the bare hull of an Autonomous Underwater Vehicle (AUV) near free sur-face, using Computational Fluid Dynamic (CFD) tools. Simulation result shows that the main factors affecting lift and nose up pitch moment acting on the vehicle are initial diving depth and velocity. Field test shows that the vehicle dives more easily with the initial diving depth increases, which is consistent with numerical simulation.