利用Fluent提供的六自由度求解器，采用动网格技术，在水下机器人系统所处流域以计算流体力学方法求解其N-S方程，研究受海流影响下的水下机器人运动特性。数值计算结果表明：采用动网格技术进行六自由度运动模拟可以获得海流对水下机器人运动特性的影响；随着海流速度的增加，水下机器人运动的不稳定性逐渐增加，在运动后期会出现明显的偏航，且发生偏航的距离点随着海流速度的增加而提前；随着推力的增加，位移轨迹曲线的曲度逐渐减小，逐渐由曲线过渡为直线。
Based on the 6DOF solver provided by Fluent, using the dynamic grid technique to solved the N-S equation by computational fluid dynamics method in the basin where the underwater robot system is located, research the motion characteristics of underwater robot under the influence of current. The numerical results show that, using dynamic grid technique to the 6DOF motion simulation can obtain the influence of current on the motion characteristics of underwater robot. With the increase of current velocity, the instability of underwater robot movement increases gradually, and there will be obvious yaw in the later period of motion, the distance of yaw occurs with the increase of ocean velocity. With the increase of thrust, the curvature of the displacement trajectory curve decreases gradually, transition from curve to straight line gradually.
2017,(): 20-25 收稿日期：2017-03-30
DOI：10.3404/j.issn.1672-7649.2017.12.005
分类号：TV131.2
基金项目：国家自然科学基金资助项目（11372112）
作者简介：吴家鸣(1957-),男,教授,主要从事船舶与海洋工程水动力学研究
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