三维被动摆动水翼对波浪滑翔机推进动力的性能研究

doi:10.3901/JME.2020.08.243

机械工程学报 ›› 2020, Vol. 56 ›› Issue (8): 243-249.doi: 10.3901/JME.2020.08.243

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三维被动摆动水翼对波浪滑翔机推进动力的性能研究

胡峰^1,2, 赵文涛^1,2,3, 黄琰^1,2, 俞建成^1,2, 赵宝德^1,2, 崔健^1,2

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沈阳 110016;
2. 中国科学院机器人与智能制造创新研究院沈阳 110016;
3. 广州中国科学院沈阳自动化研究所分所广州 511458

收稿日期:2019-06-14 修回日期:2019-11-27 出版日期:2020-05-28 发布日期:2020-05-28
通讯作者: 俞建成(通信作者),男,1976年出生,博士,研究员,博士研究生导师。主要研究方向为新概念海洋机器人技术、移动自主海洋环境观测理论与技术、海洋机器人智能控制方法与技术。E-mail:yjc@sia.cn
作者简介:胡峰,男,1991年出生,硕士,助理研究员。主要研究方向为水下机器人水动力分析。E-mail:hufeng@sia.cn
基金资助:
国家重点研发计划（2017YFC0305804）、机器人学国家重点实验室自主课题（2015-Z09）、中国科学院战略性先导科技专项子课题（XDA22040101-02）和国家自然科学基金（41906173）资助项目。

Study on Propulsion Performance of Three-dimensional Passive Swinging Hydrofoil on Wave Glider

HU Feng^1,2, ZHAO Wentao^1,2,3, HUANG Yan^1,2, YU Jiancheng^1,2, ZHAO Baode^1,2, CUI Jian^1,2

1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016;
2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016;
3. Shenyang Institute of Automation, Guangzhou, Chineses Academy of Sciences, Guangzhou 511458

Received:2019-06-14 Revised:2019-11-27 Online:2020-05-28 Published:2020-05-28

摘要/Abstract

摘要： 针对水翼在波浪滑翔机运动中对本体产生的推进动力的预报问题，利用CFD分析软件Star-CCM+中的平面运动机构（PMM）模块，对水翼翼板在波浪滑翔机主体随浪升沉过程中产生的升沉和绕自身旋转轴被动摆动的耦合运动过程进行三维模拟。通过对运动过程中水翼产生的推进动力进行分析，探究水翼的波浪参数（波高、周期）和结构参数（展弦比）等对水翼推进性能的影响。研究发现，在相同波高下，水翼摆动角速度与波浪周期成反比；水翼的前向平均推力系数与周期的平方成反比、与波高值近似成二次项比例关系；展弦比增加可以增大翼板的平均推力系数，但增加幅度不大。

关键词: 波浪滑翔机, 三维水翼, 推进动力, 耦合运动, 波浪参数, 结构参数

Abstract: A three-dimensional simulation is carried out to analyze the coupled motion and hydrodynamic force of the hydrofoil, in order to predict the propulsion force generated by hydrofoils in the motion of wave glider. To model the wave-induced heave and passive swing of hydrofoil, the planar motion mechanism (PMM) module in CFD analysis software Star-CCM+ is used. By analyzing the propulsion force generated by hydrofoil during its motion, influences of wave parameters (wave height, period) and structural parameter (aspect ratio) on propulsion performance are investigated. Results of simulation show that under the condition of the same wave height, the angular velocity of hydrofoil is inversely proportional to the wave period. The forward average thrust coefficient of hydrofoil is inversely proportional to the square of the wave period, and increases quadratically with the wave height increasing. Average thrust coefficient is increased when increasing aspect ratio, but the effect is not very obvious.

Key words: wave glider, hydrofoil, propulsion force, coupled motion, wave parameters, structural parameters

中图分类号:

TK79

胡峰, 赵文涛, 黄琰, 俞建成, 赵宝德, 崔健. 三维被动摆动水翼对波浪滑翔机推进动力的性能研究[J]. 机械工程学报, 2020, 56(8): 243-249.

HU Feng, ZHAO Wentao, HUANG Yan, YU Jiancheng, ZHAO Baode, CUI Jian. Study on Propulsion Performance of Three-dimensional Passive Swinging Hydrofoil on Wave Glider[J]. Journal of Mechanical Engineering, 2020, 56(8): 243-249.

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三维被动摆动水翼对波浪滑翔机推进动力的性能研究

Study on Propulsion Performance of Three-dimensional Passive Swinging Hydrofoil on Wave Glider

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