【作者】 张赫；

【导师】 徐玉如；

【作者基本信息】 哈尔滨工程大学 ， 船舶与海洋结构物设计制造， 2008， 硕士

【摘要】 海洋所蕴藏的巨大经济潜力以及在政治上的重要地位,在本世纪受到世界各国的广泛关注。在众多海洋技术中,续航力大、能达到各种潜深、并能完成多种作业任务的潜水器成为研究的重点。本文的研究对象即为一种能在较大海域执行复杂任务且具有持久续航能力的新型潜水器。在潜水器综合性能中,操纵性是其重要的组成部分,是潜水器安全航行和充分发挥其战术水平的重要保证,也是潜水器总体性能设计的重点。对于潜水器性能的检测,运动仿真是重要的试验之一。运动仿真系统的成功建立不仅有助于潜水器操纵性能的预报,同时也为潜水器的智能控制设计和调试提供了平台。本文以某长航程潜水器作为研究对象。首先,根据潜水器运动一般方程,建立了长航程潜水器六自由度空间运动的数学模型,并对该潜水器进行了受力分析。其次,根据本潜水器初步设计的模型,分别采用近似公式估算、基于势流理论的面元法和商用流体力学软件FLUENT模拟循环水槽试验三种方法求解潜水器的水动力系数。此后,进行模型循环水槽操纵性能试验,对试验数据处理并结果解算分析,并以该结果作为衡准值完成了对上述三种计算方法的评价,同时由试验也得到了适用于本运动方程的完整水动力系数集合。最后,分析潜水器操纵性能评价参数,建立运动仿真系统,仿真计算潜水器典型的空间运动,通过得到的曲线对潜水器操纵性能进行预报。更多还原

【Abstract】 In recent years people have paid more and more attention to the ocean, on account of its huge economic potential and high political status. Among all of the ocean techniques, an underwater vehicle with abilities of long endurance and deep submerged distance becomes the key point of our researches. The object we studied in this thesis is a long-endurance submersible vehicle which can work in a wide-range sea area and deal with complex tasks.Maneuverability is an important part of the vehicle’s general abilities. A vehicle with excellent maneuverability will navigate safely and perform well in the war. The motion simulation system is a tool to forecast it.In this thesis the six-degree freedom of motion equations were built and the forces needed to solve the equations were analyzed firstly. Secondly, hydrodynamic coefficients of the vehicle were calculated by three kinds of method following: approximate formula method, surface panel method and CFD software numerical simulation. All the calculated data were compared with experimental data. The applicability and precision of each method were given meanwhile hydrodynamic coefficients that needed in motion equations were presented. Finally, the motion simulation platform was built and the motion performance of the vehicle was analyzed. Simulation courves of typical movements were presented and the maneuverability of the underwater vehicle was also analyzed.更多还原