自主水下航行器编队航行时，艇体通过流体产生的水动力相互作用会影响AUV的能耗、运动稳定性等，研究自主水下航行器编队的流体动力特性对于提高其运动稳定性、节约能源等具有重要意义。首先利用量纲分析方法对自主水下航行器所受的驱动力和水动力进行分析，提出基于量纲方法的驱动力和水动力的近似计算方法，利用仿真和实验数据求出驱动力系数，然后利用计算流体力学方法对自主水下航行器编队直线航行进行数值模拟，并分析在串联式、并联式、“V”形编队下自主水下航行器所受的力和力矩的变化及其对运动的影响。根据数值模拟结果得出，在串联式编队下编队距离主要影响自主水下航行器所受阻力，并联式编队和“V”形编队下编队距离主要影响横向力和偏航力矩，艇体周围的压力分布是影响受力情况的主要原因。
When autonomous underwater vehicles sail in formation, the hydrodynamic interactions generated by the hulls through the fluid will affect the energy consumption and motion stability of the AUVs. It is of great significance to study the hydrodynamic characteristics of the autonomous underwater vehicles formation to improve its motion stability and save energy. Firstly, the driving force and hydrodynamic force suffered by the autonomous underwater vehicle are analyzed by the method of dimensional analysis, and the approximate calculation method of driving force and hydrodynamic force based on the method of dimensional analysis is proposed, and the coefficients of the driving force are derived by the simulation and experimental data. Then numerical simulations are carried out through computational fluid dynamics for the straight-line sailing of the autonomous underwater vehicle formations and the analysis is carried out in the tandem, parallel and V-shape formations respectively, and the changes of the force and moment applied to the autonomous underwater vehicle and their effects on the motion are analyzed. Based on the numerical simulation results, it is concluded that the formation distance mainly affects the drag force on the autonomous underwater vehicle in tandem formation, and the formation distance mainly affects the lateral force and yaw moment in parallel formation and V-shape formation, and it is the pressure distributions around the hulls that mainly influence the forces and moments.
2025,47(5): 62-67 收稿日期：2024-4-27
DOI：10.3404/j.issn.1672-7649.2025.05.010
分类号：U674.91
基金项目：国家自然科学基金资助项目（62373285）；上海市产业协同创新项目（HCXBCY-2022-051）；机器人技术与系统全国重点实验室开放基金资助项目（SKLRS-2024-KF-04）
作者简介：苏士博（2001 – ），男，博士研究生，研究方向为集群无人系统
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