水下机器人舵翼参数设计与优化

为获取高升力系数和升阻比的舵翼外形特征参数,本文以某型水下机器人舵翼为研究对象,将其表征量简化为展弦比、梢根比、前缘后掠角、攻角和剖面翼型5个设计参数。采用计算流体力学方法(CFD)模拟了流速为2 kn时,平板翼型厚度为6 mm的常见平面形状舵翼在不同来流下的流场情况,得到舵翼平面形状参数与其水动力性能和铰链力矩之间的变化规律和相对灵敏度,并对基于径向基函数模型(RBF)的优化结果进行分析,随后对比了不同剖面翼型对舵翼性能的影响。研究结果表明:攻角为6°左右时,舵翼可获得最佳水动力性能;剖面翼型对舵翼的水动力性能有较大影响,NACA00xx系列翼型可以显著提升舵翼的升阻比,并且翼型厚度越小,性能越佳;舵翼面积一定的条件下,后掠形舵翼具有优良的水动力性能,但铰链力矩较大;攻角较小时,梯形舵翼表现出较好的水动力性能,铰链力矩很小;攻角较大时,切尖三角形舵翼水动力性能与后掠舵翼基本持平,铰链力矩适中。     

低速潜器水动力试验及操纵运动预报

本文用平面运动机构测定了作用在低速潜器上的水动力，并用富里埃级数来表达大攻角范围时的水动力。在此基础上，用计算机进行模拟计算，预报了低速潜器的部分操纵性能     

潮流发电水轮机基于动量定理的性能计算方法研究

以潮流发电水轮机的设计为研究背景,分析和总结了基于动量定理方法的四种流管模型(单盘面-单流管模型、双盘面-单流管模型、单盘面-多流管模型和双盘面-多流管模型)在竖轴变攻角水轮机的水动力性能计算中的应用,特别是能量利用率预报方面的应用。说明基于动量定理的模型在求竖轴变攻角潮流发电水轮机的水动力性能方面,能够预报一些定性特性和总体趋势,为水轮机的设计和计算提供一种初步方法。     

大深度载人潜水器低速大漂角模糊滑模航向控制研究

通过模型试验测量大深度载人潜水器低速大漂角运动时所受到的非线性水动力。基于一种新的模糊滑模控制策略,为潜水器设计了鲁棒航向控制器。在不同的漂角子区间内分别设计局部镇定的滑模控制器,然后通过Takagi-Sugeno模糊推理系统将它们光滑连接,得到模糊滑模控制。仿真计算结果充分显示了该控制策略的有效性。     

不同攻角下投弃式海流剖面仪流体动力特性研究

对投弃式海流剖面仪(eXpendable Current Profiler,XCP)不同攻角下流体动力特性进行数值模拟,分析了XCP探头流场压力分布与运动趋势的关系.研究了不同攻角下XCP探头阻力系数和升力系数的变化规律.研究表明,攻角能够明显改变流场的轴对称性.0°～10°攻角下,XCP探头阻力系数和升力系数随攻角增...     

波浪滑翔机椭圆形后缘水翼动力特性研究

水翼是波浪滑翔机的重要动力转换部件。本文针对水翼平面形状的优化问题进行研究,首先,建立了波浪滑翔机水翼水动力分析模型,分析了展弦比和翼型对单个平直水翼升力特性的影响,选定了最佳展弦比和翼型;在此基础上,提出了一种椭圆形后缘的水翼平面外形技术方案,建立了水翼椭圆形后缘平面外形的控制方程;利用CFD方法,针对单个水翼和阵列化水翼2种条件,分析对比了平直水翼和具有椭圆形后缘水翼的升力和阻力特性。研究结果表明:在低雷诺数条件下,较大的展弦比有利于提高水翼的升力系数;攻角较大时NACA0012翼型截面形状的水翼性能优于平板翼;对于相同面积的水翼,当攻角较小时椭圆尾缘水翼的升力系数和阻力与平直水翼相同,而攻角较大时椭圆尾缘水翼的升/阻力特性优于平直水翼。     

基于嵌入式水鸟的海洋地震拖缆运动状态仿真研究

研究分析了嵌入式水鸟作用下的海洋地震拖缆运动状态.在现有的理论基础上,简化地震拖缆运动数学模型,并进行仿真求解,结果表明定深水鸟在使地震拖缆保持水平状态起了重要作用.利用前处理软件建立了定深水鸟几何模型,并用数值计算软件进行了分析计算,得到了定深水鸟的水动力特性及在不同攻角下的升力分布情况,为水鸟运动控制策略提供理论依据.     

基于UDF的水平轴潮流能水轮机被动旋转水动力性能研究

针对水平轴潮流能水轮机被动旋转问题,基于Fluent 17.0,运用UDF(User Defined Function)控制滑移网格对网格进行动态调整,仿真研究水轮机在不同安放角下被动旋转的水动力特性。通过仿真分析,结果表明:潮流能水轮机随着叶片安放角度的增加,尖速比、输出功率、捕能系数都是先增大后减小,叶片安放角为6°时,叶轮前后速度差最大,对潮流能利用充分,且各项性能均达到最佳;通过分析叶片受力,叶尖叶素在安放角为2°时阻力最大,3°时升力最大,升阻比在6°时最大,此时叶尖叶素升阻比C_L/C_D=6.27、攻角α=3.06°。由仿真结果可知水平轴潮流能叶轮的自启动过程由5个阶段组成,即加速度增大的加速运动段—加速度减小的加速运动段—加速度反向增大的减速运动段—加速度反向减小的减速运动段—稳定运行段,这对潮流能水轮机的设计具有重要的指导意义。     

水平轴海流能发电机叶片设计与性能分析

全球海洋蕴藏着丰富的海流能,合理利用海流能可以有效缓解能源危机。以额定工况下获能系数达到最大值为目标,利用叶素-动量理论设计了150 kW水平轴海流能发电机的叶片。使用叶素-动量理论结合普朗特修正和葛劳渥修正的方法,预测了海流机在不同尖速比以及不同桨距角下的水动力性能,分析了攻角和载荷沿着叶片径向的分布规律。使用CFD方法计算了海流机在不同尖速比下的水动力性能,并与理论方法的计算结果进行了比较。理论方法和CFD方法的结果均表明,所设计的海流机最大获能系数位于设计尖速比处,证明基于叶素-动量理论的水平轴海流机叶片设计方法是有效的。     

基于自组织机制理论的滩角地形数值模拟

一般认为滩角是近岸带泥沙、水动力和地形耦合作用的产物,对近岸带特别是碎波带和冲流带的动力变化响应迅速,还可以反映海滩状态,但具体的成因一直得不到很好的解释.首先详细介绍了关于滩角成因的争论以及自组织机制理论,其中驻立边缘波假说和自组织机制假说是最为认同的两种滩角成因假说.基于WERNER(1993)提出的滩角形成的自组织机制假说,建立包含冲流动力、泥沙输运和地形演变的滩角形成和发育的元胞自动机模型.模型中修正了以前研究中的坡度参数表达式和水动力输入方式.经过200个冲流循环的数值模拟,原来平直的滩面上形成了明显的滩角形态,滩角间距约为5.5～6.0 m,520个循环周期后,滩角形态基本上达到稳定状态.对模拟过程进行分析,结果表明:(1)模拟得到的滩角形态比先前的研究结果更接近天然状态下的滩角;(2)随机的水质点冲流运动使海滩地形呈无规律变化,但通过动力、泥沙、地形之间的反馈过程逐渐形成了滩角地形;(3)滩角形成过程中,海滩基本上处于堆积过程中.开始堆积速度较快,当滩角形态达到准平衡状态时(大约300个循环后),海滩体积增速变慢,并逐渐地达到稳定状态,海滩体积变化呈现小的波动调整;(4)模拟得到的有效冲流距离(S)和滩角间距(λ),满足滩角自组织机制假说的基本关系.因此,可以认为滩角是在海滩泥沙、地形与波、流的自组织过程中形成的,是一种堆积地形.自组织理论为从不同的侧面认识和研究海岸带现象与过程提供一扇窗口,是一个值得研究的方向.     

A Unified Computational Method for Simulating Dynamic Behavior of Planing Vessels

High speed planing hulls have complex hydrodynamic behaviors. The trim angle and drafts are very sensitive to speed and location of the center of gravity. Therefore, motion simulation for such vessels needs a strong coupling between rigid body motions and hydrodynamic analysis. In addition, free surface should be predicted with good accuracy for each time step. In this paper, velocity and pressure fields are coupled by use of the fractional step method. On the basis of integration of the two-phase viscous flow induced stresses over the hull, acting loads (forces and moments) are calculated. With the strategy of boundary-fitted body-attached mesh and calculation of 6-DoF motions in each time step, time history of ship motions including displacements, speeds and accelerations are evaluated. For the demonstration of the software capabilities, circular cylinder slamming is simulated as a simple type of water slamming. Then, a high-speed planing catamaran is investigated in the case of steady forward motion. All of the results are in good concordance with experimental data. The present method can be widely implemented in design as well as in performance prediction of high-speed vessels.     

A Unified Computational Method for Simulating Dynamic Behavior of Planing Vessels

High speed planing hulls have complex hydrodynamic behaviors. The trim angle and drafts are very sensitive to speed and location of the center of gravity. Therefore, motion simulation for such vessels needs a strong coupling between rigid body motions and hydrodynamic analysis. In addition, free surface should be predicted with good accuracy for each time step. In this paper, velocity and pressure fields are coupled by use of the fractional step method. On the basis of integration of the two-phase viscous f...     

System-based investigation on 4-DOF ship maneuvering with hydrodynamic derivatives determined by RANS simulation of captive model tests

For the non-negligible roll-coupling effect on ship maneuvering motion, a system-based method is used to investigate 4-DOF ship maneuvering motion in calm water for the ONR tumblehome model. A 4-DOF MMG model is employed to describe ship maneuvering motion including surge, sway, roll, and yaw. Simulations of circular motion test, static drift and heel tests are performed by solving the Reynolds-averaged Navier-Stokes (RANS) equations, after a convergence study quantifying the necessary grid spacing and time step to resolve the flow field adequately. The local flow field is analyzed for the selected cases, and the global hydrodynamic forces acting on the ship model are compared with the available experiment data. Hydrodynamic derivatives relating to sway velocity, yaw rate, and heel angle are computed from the computed force/moment data using least square method, showing good agreement with those obtained from EFD data overall. In order to investigate further the validity of these derivatives, turning circle and zigzag tests are simulated by using the 4-DOF MMG model with these derivatives. The trajectories and the time histories of the kinematic variables show satisfactory agreement with the data of free-running model tests, indicating that the system-based method coupled with CFD simulation has promising capability to predict the 4-DOF ship maneuvering motion for the unconventional vessel.     

A Study on the Maneuvering Motion of a Low Speed Submersible

In this paper,the maneuvering characteristics of a low speed submersible are investigated.First,the captive model tests are carried out to obtain the hydrodynamic forces acting on the submersibleusing a Planar Motion Mechanism(PMM).For the hydrodynamic forces within a wide range of attack an-gles,the hydrodynamic coefficients which are usually used in the conventional maneuvering motion arequite difficult to be applied.In this case,a Fourier series is adopted to represent the hydrodynamic forcesand it fits the experimental data well.Then,based on the experimental results the simulation calculationsare made to predict some of the maneuvering performance of the low speed submersible.     

基于CFD船舶操纵性预报方法研究

基于CFD技术和重叠网格技术完成了黏性流场中KVLCC2船模的操纵性水动力导数的数值计算。为保证计算的精确性,进行了网格的收敛性分析,给出了合适的网格划分方法;通过数值模拟斜航运动、纯横荡运动和纯艏摇运动计算出的水动力与相应条件下的试验值对比,计算结果与试验值吻合良好,计算出的水动力导数准确度较高。基于MMG分离建模方法建立KVLCC2船模的操纵性数学模型,利用龙格-库塔算法求解微分方程组,对船舶操纵运动进行仿真。回转试验和Z形操舵试验的仿真结果与试验结果对比,其回转直径和轨迹都非常吻合,表明采用的船舶操纵性预报是可行的。     

Coupled dynamics of tethered buoy systems

The three-dimensional coupled behavior during the interaction of buoys with their mooring systems is numerically analyzed. A time-domain model was developed to predict the response of a tethered buoy subject to hydrodynamic loadings. External loadings include hydrodynamic forces, tethers tensions, wind loadings and weight. System nonlinearities include large rotational and translational motions, and non-conservative fluid loadings. The mooring problem is formulated as a combined nonlinear initial-value and two-point-boundary-value problem which is directly integrated both in time and space. Buoy equations of motion are derived using small Eulerian angles. Coupling between rotational and translational degrees of freedom is included and coupling between the buoy and cable is effected by adopting the buoy equations of motion as boundary conditions at one end for the mooring problem. Numerical examples are provided to validate the formulation and solution technique; predicted responses of three types of buoy (sphere, spar, and disc) are compared with experimental results.     

Mechanistic Drifting Forecast Model for A Small Semi-Submersible Drifter Under Tide-Wind-Wave Conditions

Understanding the drifting motion of a small semi-submersible drifter is of vital importance regarding monitoring surface currents and the floating pollutants in coastal regions. This work addresses this issue by establishing a mechanistic drifting forecast model based on kinetic analysis. Taking tide-wind-wave into consideration, the forecast model is validated against in situ drifting experiment in the Radial Sand Ridges. Model results show good performance with respect to the measured drifting features, characterized by migrating back and forth twice a day with daily downwind displacements. Trajectory models are used to evaluate the influence of the individual hydrodynamic forcing. The tidal current is the fundamental dynamic condition in the Radial Sand Ridges and has the greatest impact on the drifting distance. However, it loses its leading position in the field of the daily displacement of the used drifter. The simulations reveal that different hydrodynamic forces dominate the daily displacement of the used drifter at different wind scales. The wave-induced mass transport has the greatest influence on the daily displacement at Beaufort wind scale 5-6; while wind drag contributes mostly at wind scale 2-4.     

Dynamic Modeling and Investigation of Maneuver Characteristics of A Deep-Sea Manned Submarine Vehicle

A deep-sea Manned Submarine Vehicle (MSV) is usually required to move at a low forward speed and a low rotational speed when it executes investigation tasks. In this condition, the motion is in large drift angles, and the maneuverability hydrodynamic forces cannot be expressed properly in the conventional mathematical model of submersible motion. In this paper, firstly, a general equation of MSV with six-freedom motion is presented, and the numerical simulation of descent/ascent motion and helix motion is c...