为满足日益复杂的水下作业任务需求，加装机械手的无人水下航行器（UUV）或称为水下机器人-机械手系统（UVMS）已成为研究热点，但多UVMS协同作业场景下的水动力特性仍不明晰，亟需开展多UVMS协同作业场景下的流场特性分析。本文利用三维粘流理论的水动力分析软件（STAR-CCM+），并基于SST $ k - \omega $模型模拟仿真来流速度为5.144 m/s条件下的水下无人潜器的阻力值。分别分析有无装载机械手情况下，2种不同潜器水下协同作业时不同作业间距对潜器自身所受阻力值以及潜器周围流场的影响。研究结果表明，双潜器的协同作业导致潜器受到的阻力增加，但随着双潜器之间距离的增加，各项阻力值随之减小，并趋近于单潜器作业时受到的阻力值。此外，通过优化潜器主体外型能够有效减小潜器所受阻力值，其中潜器1效果比潜器2显著提高了13.80%。
In order to meet the demands of increasingly complex underwater operations, unmanned underwater vehicles (UUV) retrofitted with manipulators or known as underwater Vehicle-Manipulator systems (UVMS) have become a research hotspot, but the hydrodynamic characteristics of multiple UVMS in cooperative operation scenarios are still unclear, and there is an urgent need to carry out the flow field characterization of multiple UVMS in cooperative operation scenarios. In this paper, the hydrodynamic analysis software (STAR-CCM+) based on the 3D viscous flow theory is used to simulate the resistance value of the underwater unmanned submersible under the condition of the incoming velocity of 5.144 m/s. The effects of the presence or absence of a loaded manipulator and different distances when two different submersibles are working together underwater on the drag force on the submersible and the flow field around the submersible are analyzed. The results show that the drag force on the submersible increases due to the cooperative operation of the two submersibles, but with the increase of the distance between the two submersibles, the drag force decreases and tends to be similar to that of the single submersible. In addition, by optimising the shape of the main body of the submarine, it was possible to effectively reduce the resistance value of the submarine, with the effect of submarine No.1 being significantly higher than that of submarine No.2 by 13.80%.
2025,47(18): 82-88 收稿日期：2024-12-11
DOI：10.3404/j.issn.1672-7649.2025.18.014
分类号：U661.1
作者简介：邢齐齐（1998 – ），女，硕士研究生，研究方向为水下航行器运动响应
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