大型深海运载器保持水平姿态无动力自由下潜过程中会产生横滚现象，影响后续运载器深海着陆坐底，为探究不改变运载器外形的条件下净浮力、稳心高和初始横滚角等可变参数对运载器下潜姿态的影响，使用基于二次本构关系（Quadratic Constitutive Relation，QCR）的SST k-omega方法，对深海运载器无动力下潜运动姿态进行计算。结果表明，在外形确定的情况下净浮力与稳心高会影响横滚角幅值与下潜速度，初始横滚角仅在下潜初期2个周期内有影响，不影响运载器横滚角幅值。并根据仿真结果拟合出横滚角幅值小于5°的净浮力与稳心高可选区域，以指导运载器与着陆器设计。
In the process of free diving without power, a large deep-sea vehicle maintaining a horizontal attitude will produce a rolling phenomenon, which will affect the subsequent deep-sea landing of the vehicle on the bottom. In order to explore the influence of variable parameters such as net buoyancy, metacentric height and initial roll Angle on the submerged attitude of the vehicle without changing the shape of the vehicle, SST k-omega method based on Quadratic Constitutive Relation (QCR) was used to calculate the unpowered diving posture of a deep-sea vehicle. The results show that: The net buoyancy and metacentric height will affect the roll Angle amplitude and diving speed when the shape is determined, and the initial roll Angle only affects the initial 2 cycles of diving, but does not affect the roll Angle amplitude of the vehicle. According to the simulation results, the optional regions of net buoyancy and metacentric height with roll Angle amplitude less than 5° are fitted to guide the design of vehicle and lander.
2024,46(22): 110-117 收稿日期：2023-9-25
DOI：10.3404/j.issn.1672-7649.2024.22.020
分类号：U674.941
基金项目：十三五预研项目（2020107/2002）；中国科学院基础研究计划资助项目（E3290904）；国家重点研发计划资助项目（2022YFB3808805）
作者简介：谷海涛(1981-),男,研究员,研究方向为海洋机器人总体技术.
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