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减速翼对深海运载器近水面运动特性影响分析
Analysis of the effect of deceleration wings on motion characteristics of deep-sea vehicle near water surface
- DOI:
- 作者:
- 赵志超1,2,3, 谷海涛1,2, 高浩1,2, 林扬1,2, 王宁1,2,3
ZHAO Zhi-chao1,2,3, GU Hai-tao1,2, GAO Hao1,2, LIN Yang1,2, WANG Ning1,2,3
- 作者单位:
- 1. 中国科学院沈阳自动化研究所 机器人学国家重点实验室, 辽宁 沈阳 110016;
2. 中国科学院 机器人与智能制造创新研究院, 辽宁 沈阳 110169;
3. 中国科学院大学, 北京 100049
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China;
3. University of Chinese Academy of Sciences, Beijing 100049, China
- 关键词:
- 深海运载器;减速翼;波浪力;函数拟合
deep-sea vehicle; deceleration wing; wave force; function fitting
- 摘要:
- 为探究波浪和减速翼共同作用对深海运载器近水面出水和垂荡运动的影响规律，采用数值方法，分析不同减速翼张角和海况等级下运载器近水面运动受到的波浪载荷及其运动响应特性，并提出一种函数拟合的短期波浪力时域建模方法。研究结果表明：减速翼对运载器近水面垂荡运动有显著的抑制作用，减速翼张角越大，运载器实现水面稳定所需的垂荡次数越少，垂荡运动周期越短；低海况下运载器状态参数波动范围逐渐减小，高海况状态参数波动范围先减小后增大，在$1T$波周期内垂向速度和纵倾角达到极小值，$1T$~$2T$波周期内纵倾角逐渐回复到90°；正弦和函数和非线性最小二乘法拟合适用于波浪载荷的短期时域建模。
To explore how wave and deceleration wing affect the motion characteristics of the water-exit and heave motion of deep-sea vehicle, the wave forces and motion response characteristics near the surface of the vehicle are researched at different deceleration wing angle and sea condition through numerical method, and a time-domain modeling method for short-term wave force is proposed. The results show that the deceleration wing has significant suppression effect on heave motion of the vehicle near water surface. The larger the angle of the deceleration wing is, the less heave times is needed for the vehicle to achieve water surface stability, and the shorter the heave motion period is. The fluctuation range of the state parameters of the vehicle decreases gradually under low sea conditions, and the fluctuation range of the state parameters decreases first and then increases under high sea conditions. The sum of sine function and nonlinear least squares fitting is suitable for short-term time domain modeling of wave forces. The vertical velocity and pitch angle reach the minimum value in the $1T$ wave period, and the pitch angle gradually returns to 90° in the $1T$~$2T$ wave period.
2023,45(6): 21-27 收稿日期：2022-05-09
DOI：10.3404/j.issn.1672-7649.2023.06.005
分类号：U674.941
基金项目：十三五预研项目（2020107/2002）；十四五预研项目（XM2022XT0029）
作者简介：赵志超(1995-)，男，硕士研究生，研究方向为水下机器人水动力学
