针对深海目标探测、打捞作业的安全、高效要求，研制一型多推进系统矢量配置的多功能遥控水下无人航行器。针对航行器系统配置和作业性能参数，首先采用流体力学方法分析计算多种工况下外形阻力和脐带电缆阻力特性，通过水平面多推进器环形矢量配置和垂直面推进器对称分布配置，解耦垂直面和水平面运动，实现航行器高效多自由度运动。然后，根据推进器的性能和不同工况下航行器阻力特性计算分析，拟合阻力、动力、速度关系曲线，校验推进系统配置的合理性。最后对比分析阻力特性与推进器推力输出特性，结果表明航行器动力配置方式及推进器效能满足航行器机动作业性能要求。
Aiming at the requirements of safety and efficient for deep-sea target detection and salvage operations, a multi-functional remote unmaned underwater vehicle with vector configuration of multiple propulsion systems was proposed in this paper. According to the configuration and operation performance parameters of the vehicle, the characteristics of contour resistance and umbilical cable resistance under various working conditions were firstly analyzed and calculated by hydrodynamic method. Through the horizontal surface multi-propeller ring vector configuration and vertical surface propeller symmetrical distribution configuration, the vertical and horizontal surface movements were decoupled to achieve efficient multi-degree-of-freedom movement of the vehicle. Then, according to the performance of the propeller and the calculation and analysis of the vehicle resistance characteristics under different working conditions, the relationship curve of resistance, power and speed was fitted to verify the rationality of the propulsion system configuration. Finally, the resistance characteristics and the thrust output characteristics of the propeller were compared and analyzed. The results show that the power configuration mode and the thrust efficiency of the vehicle meet the requirements of the maneuvering operation performance of the UUV.
2024,46(23): 88-92 收稿日期：2024-2-5
DOI：10.3404/j.issn.1672-7649.2024.23.014
分类号：U661.3; TP242.3
基金项目：国家重大科技专项项目（2017YFC0305905）
作者简介：胡测(1987-),男,硕士,高级工程师,研究方向为水下无人航行器总体及智能控制
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