蛙人推进装置建模及其推进器位置优化

doi:10.16182/j.issn1004731x.joss.18-0409

系统仿真学报 ›› 2020, Vol. 32 ›› Issue (4): 562-570.doi: 10.16182/j.issn1004731x.joss.18-0409

蛙人推进装置建模及其推进器位置优化

张建军, 杨兵, 吴锦辉, 阎强

河北工业大学,天津 300130

收稿日期:2018-06-27 修回日期:2018-10-10 出版日期:2020-04-18 发布日期:2020-04-16
作者简介:张建军(1971-),男,河北沧州,博士,教授,博导,研究方向为机器人机构学;杨兵(1993-),男,山西临汾,硕士,研究方向为潜水推进装备与运动仿真。
基金资助:
国家自然科学基金(51175144),天津市自然科学基金(17JCZDJC40200)

Modeling and Propeller Location Optimization for Diving Propeller Vehicle

Zhang Jianjun, Yang Bing, Wu Jinhui, Yan Qiang

Hebei University of Technology, Tianjin 300130, China

Received:2018-06-27 Revised:2018-10-10 Online:2020-04-18 Published:2020-04-16

摘要/Abstract

摘要： 针对蛙人体力消耗快、灵活性差等问题,提出一种配备浮力调节装置的可穿戴式蛙人推进装置,并对其推进器位置进行优化。以人体结构作为刚体建立六自由度运动方程,进而对该装置的水动力性能进行分析;通过FLUENT仿真得到方程中的水动力参数;将推进器合理位置作为约束条件,以直线潜行和回转运动所受的合外力最小为优化目标建立优化模型,解得随速度变化的最优位置点集。优化结果表明：优化后的推进器位置能够有效减小潜水的垂向速度并保持稳定的潜水状态。

关键词: 蛙人潜水推进器, 水动力参数, 附加质量, 运动仿真, 位置优化

Abstract: Focus on the rapid physical exertion and the poor flexibility of diving propeller vehicle, a wearable diving propeller equipped with buoyancy control devices is proposed, and the position of the propeller in the device is optimized. The human body structure is regarded as a rigid body to establish a spatial 6-degree-of-freedom motion equation, and its surrounding hydrodynamic performance is analyzed. The hydrodynamic parameters in the model are obtained based on the FLUENT. The propeller position optimization model based on the minimum external force of rectilinear diving and slewing motions is established. The optimization results demonstrate that the optimized propeller position can effectively reduce the vertical diving speed and maintain a steady diving state.

Key words: diving propeller vehicle, hydrodynamic parameters, added mass, dynamic simulation, positional optimization

中图分类号:

U674.941

张建军, 杨兵, 吴锦辉, 阎强. 蛙人推进装置建模及其推进器位置优化[J]. 系统仿真学报, 2020, 32(4): 562-570.

Zhang Jianjun, Yang Bing, Wu Jinhui, Yan Qiang. Modeling and Propeller Location Optimization for Diving Propeller Vehicle[J]. Journal of System Simulation, 2020, 32(4): 562-570.

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蛙人推进装置建模及其推进器位置优化

Modeling and Propeller Location Optimization for Diving Propeller Vehicle

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