水下机器人在潜艇附近运动时的水动力计算
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摘要
两个物体在流体中运动，当物体间距离很小时，相互之间存在着较强干扰力。这个问题的研究对于水下机器人搭载、动力定位及一些要求较高的运动控制方面，都有着重要的意义。
本文以势流理论为基础，根据水下两个物体运动的数学模型，给出了它们间相互作用力的公式。在此基础上，编制了相应的计算程序，并以球体在壁面附近时的运动进行了验证，然后，根据水下机器人靠近潜艇的方案，进行了数值计算，给出了较为满意的结果，并针对各种情况作了相应的分析。最后给出了水下机器人在潜艇附近运动时，各种运动状态下的仿真结果。在网格划分方面，对各种网格生成方法进行了比较分析，最终本文从实用的角度出发，采用Gambit来进行此项工作，并编制了相应的接口转换程序，使同类工作从繁重的网格划分工作中解脱出来。
本文的工作，对于水下机器人搭载的研究及其在海底、码头附近运动时的水动力预报有很大的实用性。
When two bodies move in inviscid fluid, interacted force would act on them as the distance between them becomes small. The research in this respect will be of great value to the retrieval of underwater vehicle as well as d ynamic positioning and automatic controlling i n which m ore accurate requirement is expected.
In this thesis, according to the theory of potential flow, the mathem-atical model of two bodies moving in inviscid fluid with arbitary 3-dimensional shape is presented and the formula of interacted force between them is derived. Corresponding program is designed based on the theory, and a numerical computation about a sphere near wall is utilized to verify the effectivity of the program. Then satisfactory results are obtained when underwater vehicle g oes toward s ubmarine a long the fixed p aths by numerical computation, and corresponding analysis follows. Finally, for all kinds of movements, the hydrodynamic simulation is carried out. In the way of grid generation, comparison about various generating methods is made. In the end software Gambit is employed to do such work from the point of practicability, and the interface program to translate the grid file is also given. It relieves the people from the similar heavy work of grid generation.
The work of this thesis has practical use for the retrieval of underwater vehicle and the prediction of hydrodynamic when it is near seabed or wharf.
本文以势流理论为基础，根据水下两个物体运动的数学模型，给出了它们间相互作用力的公式。在此基础上，编制了相应的计算程序，并以球体在壁面附近时的运动进行了验证，然后，根据水下机器人靠近潜艇的方案，进行了数值计算，给出了较为满意的结果，并针对各种情况作了相应的分析。最后给出了水下机器人在潜艇附近运动时，各种运动状态下的仿真结果。在网格划分方面，对各种网格生成方法进行了比较分析，最终本文从实用的角度出发，采用Gambit来进行此项工作，并编制了相应的接口转换程序，使同类工作从繁重的网格划分工作中解脱出来。
本文的工作，对于水下机器人搭载的研究及其在海底、码头附近运动时的水动力预报有很大的实用性。
When two bodies move in inviscid fluid, interacted force would act on them as the distance between them becomes small. The research in this respect will be of great value to the retrieval of underwater vehicle as well as d ynamic positioning and automatic controlling i n which m ore accurate requirement is expected.
In this thesis, according to the theory of potential flow, the mathem-atical model of two bodies moving in inviscid fluid with arbitary 3-dimensional shape is presented and the formula of interacted force between them is derived. Corresponding program is designed based on the theory, and a numerical computation about a sphere near wall is utilized to verify the effectivity of the program. Then satisfactory results are obtained when underwater vehicle g oes toward s ubmarine a long the fixed p aths by numerical computation, and corresponding analysis follows. Finally, for all kinds of movements, the hydrodynamic simulation is carried out. In the way of grid generation, comparison about various generating methods is made. In the end software Gambit is employed to do such work from the point of practicability, and the interface program to translate the grid file is also given. It relieves the people from the similar heavy work of grid generation.
The work of this thesis has practical use for the retrieval of underwater vehicle and the prediction of hydrodynamic when it is near seabed or wharf.
引文
[1] 许维德．流体力学．国防工业出版社．1998：147-157页
[2] 范尚雍．船舶操纵性．哈尔滨工程大学．1997：10-15页
[3] 戴遗山．舰船在波浪中运动的频域与时域势流理论．国防工业出版社，1998：16-54页
[4] 齐学义，杨帆．微分法生成贴体坐标网格技术的研究．空气动力学报．2000，No．4：36-40页
[5] 刘书振，陈树勤．分析力学．河南大学出版社，1992：45-50页
[6] 徐行，杨榕．燃烧室三维贴体坐标的生成方法研究．北京航空航天大学学报．1997，4 24期：170-173页
[7] 谢殿伟．智能水下机器人惯性类水动力计算研究．哈尔滨工程大学硕士学位论文．2000：14-18，25-30页
[8] 何青东．潜艇附近边界运动时的附加质量计算．中国船舶研究中心硕士论文．1990：4-18页
[9] 王献孚等．计算船舶流体力学．上海交通大学出版社，1991，6：10-13页
[10] 周奋为，张启南．外挂物投放发射过程仿真中的非均匀流场计算．空气动力学报．1992年12月，第10卷第4期：18-24页
[11] 施生达．潜艇操纵性．国防工业出版社．1995：183-192页
[12] 谢建辉．潜艇带速发射鱼雷时的水动力环境对鱼雷发射弹道的影响．甘肃工业大学硕士论文．1996：17-21页
[13] 刘宏立．智能水下机器人六自由度空间运动仿真．哈尔滨工程大学硕士学位论文．1997：29-30页
[14] 贺敬席．作用在两物体上的流体动力计算与实验．哈尔滨工程大学硕士学位论文．1997：10-15页
[15] L. Landweber, A. T. Chwang. Generalization of Taylor's Added-mass Formula for Two Bodies. Journal of Ship Research. 1989, vol. 33 no.1: 34-39p
[16] F.T. Korsmeyer, C. -H. LEE, J. N. Newman. Computation of ship interaction forces in Restricted Waters. Journal of Ship
Research. 1993, vol. 37 no. 4: 298-301p
[17] L. Landweber, A. T. Chwang, and Z. Guo. Interaction between Two Bodies Translating in an Inviscid Fluid. Journal of Ship Research. 1991, vol. 35 no.1:1-8p
[18] William C. Webster. The Flow About Arbitrary Three-Dimensional Smooth Bodies. Journal of Ship Research. 1975, vol. 19 No. 4:206-218p
[19] Wang Chun, ZOU Zao-jian. A 3D Panel Method for Hydrodynamic Forces on Hydrofoils. Journal of Ship Mechanics. 2001, vol. 5no. 3:19-22p
[20] V. Sladek, J. Slaadek, S. N. Atluri. Numerical integration of singularities in meshless implementation of local boundary integral equations. Computational Mechanics. 2000, vol. 25: 394-401p
[21] John L. Hess, A. M. O. Smith. Calculation of Nonlifting Potential Flow About Arbitrary Three-Dimensional Bodies. Journal of Ship Research. 1964,9:22-44p
[2] 范尚雍．船舶操纵性．哈尔滨工程大学．1997：10-15页
[3] 戴遗山．舰船在波浪中运动的频域与时域势流理论．国防工业出版社，1998：16-54页
[4] 齐学义，杨帆．微分法生成贴体坐标网格技术的研究．空气动力学报．2000，No．4：36-40页
[5] 刘书振，陈树勤．分析力学．河南大学出版社，1992：45-50页
[6] 徐行，杨榕．燃烧室三维贴体坐标的生成方法研究．北京航空航天大学学报．1997，4 24期：170-173页
[7] 谢殿伟．智能水下机器人惯性类水动力计算研究．哈尔滨工程大学硕士学位论文．2000：14-18，25-30页
[8] 何青东．潜艇附近边界运动时的附加质量计算．中国船舶研究中心硕士论文．1990：4-18页
[9] 王献孚等．计算船舶流体力学．上海交通大学出版社，1991，6：10-13页
[10] 周奋为，张启南．外挂物投放发射过程仿真中的非均匀流场计算．空气动力学报．1992年12月，第10卷第4期：18-24页
[11] 施生达．潜艇操纵性．国防工业出版社．1995：183-192页
[12] 谢建辉．潜艇带速发射鱼雷时的水动力环境对鱼雷发射弹道的影响．甘肃工业大学硕士论文．1996：17-21页
[13] 刘宏立．智能水下机器人六自由度空间运动仿真．哈尔滨工程大学硕士学位论文．1997：29-30页
[14] 贺敬席．作用在两物体上的流体动力计算与实验．哈尔滨工程大学硕士学位论文．1997：10-15页
[15] L. Landweber, A. T. Chwang. Generalization of Taylor's Added-mass Formula for Two Bodies. Journal of Ship Research. 1989, vol. 33 no.1: 34-39p
[16] F.T. Korsmeyer, C. -H. LEE, J. N. Newman. Computation of ship interaction forces in Restricted Waters. Journal of Ship
Research. 1993, vol. 37 no. 4: 298-301p
[17] L. Landweber, A. T. Chwang, and Z. Guo. Interaction between Two Bodies Translating in an Inviscid Fluid. Journal of Ship Research. 1991, vol. 35 no.1:1-8p
[18] William C. Webster. The Flow About Arbitrary Three-Dimensional Smooth Bodies. Journal of Ship Research. 1975, vol. 19 No. 4:206-218p
[19] Wang Chun, ZOU Zao-jian. A 3D Panel Method for Hydrodynamic Forces on Hydrofoils. Journal of Ship Mechanics. 2001, vol. 5no. 3:19-22p
[20] V. Sladek, J. Slaadek, S. N. Atluri. Numerical integration of singularities in meshless implementation of local boundary integral equations. Computational Mechanics. 2000, vol. 25: 394-401p
[21] John L. Hess, A. M. O. Smith. Calculation of Nonlifting Potential Flow About Arbitrary Three-Dimensional Bodies. Journal of Ship Research. 1964,9:22-44p
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