水下作业机器人一般结构复杂，其水动力模型往往具有高度非线性。为建立水下作业机器人的精确运动模型，首先基于黏流理论采用CFD软件STAR-CCM+对复杂构型水下作业机器人开展直航运动、斜航运动和平面运动机构运动模拟，得到水下作业机器人简单运动下各自由度上的水动力和力矩；然后针对不同的水动力导数型式，采用最小二乘法进行水动力导数辨识；最后，基于CFD软件计算的水下作业机器人二维回转运动的水动力计算结果，探讨不同水动力导数型式下复杂构型水下作业机器人水动力模型的精确性。本文可对复杂构型水下作业机器人的水动力导数型式选择和计算提供参考，并为其操纵性预报奠定基础。
The ROV with complex configurations makes its hydrodynamic models show high nonlinearity. In order to construct the dynamic model of the ROV with complex configurations, simulations are carried out using CFD software STAR-CCM+ based on viscous flow theory. The hydrodynamic forces and moments in all degree of freedom are calculated by simulating the head motion, oblique motion, and planar motion mechanism (PMM) motion. Additionally, the hydrodynamic coefficients are fit using the the least squares method. Finally, the hydrodynamic results of 2D yaw motion calculated based on different hydrodynamic coefficient are compared with those computed by CFD software to validate the accuracy of the presented modelling method. This study provides an insight into calculating the hydrodynamic coefficients of open-frame ROV and prepares for maneuverability prediction.
2025,47(5): 68-75 收稿日期：2024-7-8
DOI：10.3404/j.issn.1672-7649.2025.05.011
分类号：U664
基金项目：广东省重点领域研发计划（第六批）项目（2020B1111010001）
作者简介：何丽思（1999 – ），女，硕士研究生，研究方向为水下潜器水动力与运动控制
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