Physical value similar method of spatially 6-freedom-degree self-propulsion control forecast of underwater robot

Abstract

The invention provides a physical value similar method of spatially 6-freedom-degree self-propulsion control forecast of an underwater robot. The method comprises that a 6-freedom-degree control motion coordinate system of the underwater robot is established, a corresponding spatial 6-freedom-degree equation is constructed, an underwater robot model is established, a flow field topology structure and a hybrid grid system are established by mesh generation software, the underwater robot model and a grid model are assembled via fluid analysis software, and motion forms in flow field areas and motion form of the interface are defined; and a user customized function for simulating the 6-freedom-degree motion process of the underwater robot is compiled and set to simulate high-speed rotation of propellers and further simulate the 6-freedom-degree motion process of the underwater robot. Thus, real-time transient physical motion including bearing and speed change of the underwater robot in the motion process can be obtained; a state cloud atlas reproduces internal physical mechanism in the complex control motion process of a carrier; and the safety can be evaluated, and the working reliability of an AUV can be improved.

Description

technical field [0001] The invention relates to the field of maneuvering motion response analysis and motion performance evaluation of marine carriers such as ships, underwater robots, submarines, torpedoes, and aviation carriers, and in particular to a physics-like numerical method for prediction of underwater robot space 6-degree-of-freedom self-propelled maneuvering. Background technique [0002] At present, the 6-degree-of-freedom maneuvering motion prediction in the carrier space is mainly based on the traditional submarine maneuverability equation. It is a model based on hydrodynamic coefficients. This method first obtains the hydrodynamic coefficient of the carrier through the drag test of the carrier, the test of the planar mechanism or the cantilever pool, etc., using the surface element method, or using the numerical simulation method to fit the hydrodynamic coefficient of the carrier, and then conducts the coefficient model based on the simulink or VC platform of ...

AI Technical Summary

Problems solved by technology

The existing technology cannot realize the physical-like numerical simulation of the 6-DOF self-propelled maneuvering motion in the carrier space

This is mainly limited by the high coupling of each degree of freedom in the 6-degree-of-freedom motion of the carrier, which leads to complex grid construction and difficult grid movement

Complex mesh movement can easily lead to mesh distortion, resulting in calculation failure

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