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采用动网格和滑移网格混合技术,运用弹簧光顺和局部网格重构的组合式网格更新方式,在水下机器人系统所处流域以计算流体力学方法求解其N-S方程。数值计算结果表明:采用动网格和滑移网格混合技术模拟水下机器人系统水动力是可以获得正确结果的;水下机器人系统在逆向运动、螺旋桨反转时,由于主体对水流的阻塞作用和外扩作用,使得后桨、左桨和右桨所处区域的水流轴向速度偏小,造成后桨、左桨和右桨所发出的推力都较单桨大。
By using the combination of moving grid and sliding grid, a combined grid updating method of spring smoothing and local grid reconstruction is used to solve the N-S equation in the basin where the underwater robotic system is located by computational fluid dynamics. The results of numerical calculation show that the simulation of the hydrodynamic force of the underwater robot system using the hybrid technique of moving grid and sliding mesh can obtain the correct result. Under reverse motion of the underwater robot system and reverse rotation of the propeller, And expansion of the role of the rear propeller, the left paddle and the right paddle in the region where the axial flow rate of water is too small, causing the rear paddle, left paddle and right paddle thrust than the single paddle.