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浙江大学学报(工学版)
浙江大学学报(工学版)  2021, Vol. 55 Issue (10): 1930-1936    DOI: 10.3785/j.issn.1008-973X.2021.10.015
土木工程、交通工程     
双桨无人船转弯半径预报
王雄东1(),彭章明1,潘华辰1,田晓庆1,2,*(),朱泽飞1,冷建兴2
1. 杭州电子科技大学 机械工程学院，浙江 杭州 310018
2. 浙江大学 海洋学院，浙江 舟山 316021
Prediction of turning radius of autonomous ship with two propellers
Xiong-dong WANG1(),Zhang-ming PENG1,Hua-chen PAN1,Xiao-qing TIAN1,2,*(),Ze-fei ZHU1,Jian-xing LENG2
1. School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China
2. Ocean College, Zhejiang University, Zhoushan 316021, China
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摘要：

采用安装有2个螺旋桨的模型遥控船为研究对象，采用滑移网格技术建立实尺度三维混合网格，运用SST模型进行计算流体力学(CFD)仿真. 对该船在静止坐标系下进行自航模拟，通过阻力/推力平衡和单个螺旋桨的偏心位置计算单螺旋桨推进下船的转弯力矩. 建立包含船、桨在内的大区域旋转网格，对该船2种工况下的转弯特性进行数值模拟. 通过插值，可得转弯半径. 对左侧螺旋桨转速为7 560 r/min的实船模型进行转弯实验，测出实船的转弯半径. 数值模拟值与实验测量值之间的相对误差为5.56%，验证了该方法的通用性，为后续双桨水面无人船的精确控制提供数据支持.
关键词： 无人船;  差速;  转弯半径;  混合网格;  计算流体力学（CFD）    
Abstract:

A model remote-controlled ship equipped with two propellers was used as the research object. A real-scale three-dimensional hybrid grid was established by using the sliding grid technology. The SST model was used for computational fluid dynamics (CFD) calculations. The self-propulsion simulation of the ship was conducted in the stationary coordinate system. The turning moment of the ship caused by single-propeller propulsion was calculated through the resistance/thrust balance and the eccentric position of the single propeller. A large-area rotating grid including the ship and the propeller was established. The turning characteristics of the ship under two working conditions were numerically simulated. The turning radius can be obtained by using interpolation. A turning experiment was performed on a real ship model with the left propeller speed of 7 560 r/min. The turning radius of the real ship was measured. The relative error between the numerical simulation value and the experimental measurement value was 5.56%. The versatility of the method was verified, and data support was provided for the subsequent precise control of the dual-propeller autonomous surface ship.
Key words: autonomous ship    differential speed    turning radius    hybrid grid    computational fluid dynamics (CFD)
收稿日期: 2020-11-19 出版日期: 2021-10-27
CLC:  U 661  
基金资助: 国家自然科学基金资助项目（51709070）；浙江省重点研发计划资助项目（2018C04002，2021C03013）；浙江省属高校基本科研业务费专项资金资助项目（GK199900299012-026）
通讯作者: 田晓庆     E-mail: wangxiongdong@hdu.edu.cn;tianxiaoqing@hdu.edu.cn
作者简介: 王雄东（1994—），男，硕士生，从事计算流体力学的研究. orcid.org/0000-0001-9547-621X. E-mail： wangxiongdong@hdu.edu.cn
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王雄东
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朱泽飞
冷建兴

引用本文:

王雄东,彭章明,潘华辰,田晓庆,朱泽飞,冷建兴. 双桨无人船转弯半径预报[J]. 浙江大学学报(工学版), 2021, 55(10): 1930-1936.

Xiong-dong WANG,Zhang-ming PENG,Hua-chen PAN,Xiao-qing TIAN,Ze-fei ZHU,Jian-xing LENG. Prediction of turning radius of autonomous ship with two propellers. Journal of ZheJiang University (Engineering Science), 2021, 55(10): 1930-1936.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2021.10.015    或    https://www.zjujournals.com/eng/CN/Y2021/V55/I10/1930

图 1  遥控船
图 2  40F型螺旋桨
图 3  船体三维网格
图 4  螺旋桨三维网格
图 5  船体周围的三维网格
图 6  船体的自航计算域
图 7  力矩、螺旋桨推力和船舶阻力随步长的波动
图 8  当转速为6 500~10 000 r/min时自航点的确定
图 9  螺旋桨转速为7 560 r/min时右侧螺旋桨附近的自由液面分布图
图 10  螺旋桨转速为7 560 r/min时船行驶后形成的波高图
图 11  旋转域
图 12  整个计算域
图 13  角速度的判定
图 14  当船以−10.96 r/min速度转弯时的速度矢量图
图 15  当船以−10.96 r/min速度转弯时的流线图
图 16  无人船转弯半径测试的实验平台设计图
图 17  部分实验拍摄图
图 18  无人船重心位置的确定
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