Numerical simulation of dynamic performance of trans-media unmanned vehicle during vertical take-off from water
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摘要:
目的 旨在研究跨域无人平台从水面垂直起飞过程中平台的运动及动力学特性。 方法 采用黏流CFD方法结合重叠网格技术和多自由度DFBI （dynamic fluid body interaction）运动模型，针对跨域无人平台在水面垂直起飞至空中的跨域过程的动态特性，开展数值模拟研究。 结果 模拟结果显示：在垂直起飞过程中，受无人平台上升阻力的影响，空气螺旋桨需要以相对于单桨等拉力状态更高的转速才能将无人平台拉起升离水面，且无人平台的主运动为垂向上升运动；此外，因空气螺旋桨的下洗气流与无人平台机身的耦合作用，导致平台出现了“快速低头”现象。 结论 由模拟结果可知，为保证无人平台顺利升空，在从水面至空中的垂直起飞阶段必须加入手动或自动的控制程序，以实时调整推进器的倾转角度，从而为后续跨域无人平台优化设计及控制提供有力的评估手段。 Abstract:Objectives This paper aims to study the kinetic and dynamic characteristics of an trans-media unmanned vehicle during vertical take-off from water. Methods Its dynamic performance during the trans-media process from water to air is numerically simulated on the basis of the viscous computational fluid dynamics (CFD) approach combined with the overset grid technique, multiple degrees of freedom and dynamic fluid body interaction (DFBI) motion model. Results The results show that in order to pull the vehicle up, the air propeller rotation speed should be higher than the speed at the same pull force provided by a single propeller. As the main movement of the vehicle is vertically upward, the coupling of the air propeller downwash flow velocity and the fuselage of the vehicle leads to the "quick bowing" phenomenon. Conclusions To ensure smooth take-off, a manual or automatic control program should be added to adjust the tilt angle of the thrusters in real time during the take-off process. This study provides a powerful evaluation method for the optimal design and control of trans-media unmanned vehicle in the future. -
图 6 空气螺旋桨气动力计算网格
Figure 6. The surface grids of air propeller for aerodynamic performance calculation
图 7 自由度方向及参考点示意图
Figure 7. The schematic diagram of direction of freedom degree and reference points
图 8 N=2 352 r/min时的垂向位移分量
Figure 8. The vertical displacement components at N=2 352 r/min
图 9 N=2 352 r/min时的单个螺旋桨拉力
Figure 9. The single air propeller pull force at N=2 352 r/min
图 10 N=2 840 r/min时的垂向位移分量
Figure 10. The vertical displacement components at N=2 840 r/min
图 11 N=2 840 r/min时的垂向速度分量
Figure 11. The vertical velocity components at N=2 840 r/min
图 13 N=2 840 r/min时的无人平台垂向受力
Figure 13. The vertical components of force on unmanned vehicle at N=2 840 r/min
图 14 t=0.4 s时螺旋桨表面压力系数分布
Figure 14. The pressure coefficient distribution on air propeller surface at t=0.4 s
图 15 t=0.85 s时螺旋桨表面压力系数分布
Figure 15. The pressure coefficient distribution on air propeller surface at t=0.85 s
图 16 t=0.4 s时无人平台上表面压力系数分布
Figure 16. The pressure coefficient distribution on the upper surface of unmanned vehicle at t=0.4 s
图 17 t=0.85 s时无人平台上表面压力系数分布
Figure 17. The pressure coefficient distribution on the upper surface of unmanned vehicle at t=0.85 s
图 18 t=0.4 s时自由液面波高分布
Figure 18. The wave height distribution on free surface at t =0.4 s
图 19 t=0.4 s时无人平台下表面压力系数分布
Figure 19. The pressure coefficient distribution on the lower surface of unmanned vehicle at t =0.4 s
图 20 t=0.85 s时自由液面波高分布
Figure 20. The wave height distribution on free surface at t =0.85 s
图 21 t=0.85 s时无人平台下表面压力系数分布
Figure 21. The pressure coefficient distribution on the lower surface of unmanned vehicle at t =0.85 s
图 22 N=2 840 r/min时的水平位移分量
Figure 22. The horizontal displacement components at N=2 840 r/min
图 23 N=2 840 r/min时的水平速度分量
Figure 23. The horizontal velocity components at N=2 840 r/min
图 24 N=2 840 r/min时平台的水平受力
Figure 24. The horizontal components of force on unmanned vehicle at N=2 840 r/min
图 25 N=2 840 r/min时无人平台的俯仰角度
Figure 25. The pitch angle of unmanned vehicle at N=2 840 r/min
图 26 N=2 840 r/min时无人平台的俯仰力矩
Figure 26. The pitch moment of unmanned vehicle at N=2 840 r/min
图 27 N=2 840 r/min，t=1.6 s时无人平台表面压力分布
Figure 27. The pressure distribution on the surface of unmanned vehicle at N=2 840 r/min and t=1.6 s
表 1 某型二叶商用空气螺旋桨性能试验值与数值计算值
Table 1. The experimental and numerical values of aerodynamic performance of a two-bladed commercial air propeller
转速N/(r·min−1) 拉力T/N 拉力系数KT /N 偏差/% 厂商数据 计算值 厂商数据 计算值 1 200 6.97 6.79 0.073 0.071 −2.58 1 920 19.42 18.49 0.080 0.076 −4.79 
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表 2 不同转速下单个三叶空气螺旋桨的拉力、扭矩与功率
Table 2. The pull force, torque and power of a three-bladed air propeller at different rotation speeds
上升速度
V/(m·s−1)桨叶直径
D/m转速N
/(r·min−1)进速
系数J拉力
T/N扭矩
Q/(N·m)功率
Pw /W1 1.2 1 600 0.031 133.54 10.40 1 742.99 1 1.2 1 800 0.028 169.83 13.15 2 478.62 1 1.2 2 000 0.025 210.51 16.22 3 396.42 1 1.2 2 200 0.023 255.56 19.60 4 516.44 1 1.2 2 400 0.021 304.99 23.31 5 858.64 1 1.2 2 500 0.020 331.36 25.28 6 619.41
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