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پایداری دینامیکی رول ربات خودکار زیرآبی با فرم بدنه شبه ماهی | ||
| نشریه مهندسی مکانیک امیرکبیر | ||
| مقاله 19، دوره 52، شماره 7، مهر 1399، صفحه 2011-2026 اصل مقاله (5.99 M) | ||
| نوع مقاله: مقاله پژوهشی | ||
| شناسه دیجیتال (DOI): 10.22060/mej.2019.15237.6066 | ||
| نویسندگان | ||
| امیر هنریار1؛ محمود غیاثی* 2 | ||
| 1دانشجوی دکترا / دانشکده مهندسی دریا دانشگاه صنعتی امیر کبیر | ||
| 2صنعتی امیرکبیر*مهندسی دریایی | ||
| چکیده | ||
| ربات خودکار زیرآبی طراحی شده با فرم بدنه نوین شبهماهی برای هدف بازرسی خطوط لوله و کابل زیردریا مورد ارزیابی هیدرودینامیکی قرار گرفته است. افزایش پایداری دینامیکی ربات بازرس زیرآبی علاوه بر افزایش قابلیت حفظ مسیر حرکت ربات، موجب تسهیل در کنترل رفتار دینامیکی آن در محیط پراغتشاش اعماق دریا میشود. پس از بیان معادلات حرکت حاکم بر وسیله، گشتاور هیدرودینامیکی وارد بر بدنه از طرف جریان سیال آب با مدلسازی عددی در دینامیک سیالات محاسباتی استخراج شده است. ربات به عنوان جسم صلب و جریان اطراف آن به صورت پایا و تراکمناپذیر فرض شده است. با بیان ارتباط خطی بین گشتاور هیدرودینامیکی و سرعت زاویهای جریان، ضریب هیدرودینامیکی خطی بازدارنده یا میرایی مورد نیاز محاسبه شده است. به کمک ضریب هیدرودینامیکی بازدارنده استخراج شده، پایداری دینامیکی ربات حول محور طولی مورد ارزیابی قرار گرفته است. برای اطمینان از صحت نتایج، یافتههای پژوهش حاضر با دادههای آزمایشگاهی بدنه متقارن محوری متعلق به دپارتمان هیدرودینامیک کشتی مرکز تحقیقات دیوید تیلور مقایسه شده است؛ یافتههای عددی تطابق خوبی را با آزمایش نشان میدهد. نتایج نشان میدهد که پایداری دینامیکی رول برای ربات با فرم بدنه پیشنهادی با مقطع مثلثی در این مقاله 10 برابر بیشتر از رباتهای با فرم بدنه رایج متقارن محوری با مقطع دایروی است. | ||
| کلیدواژهها | ||
| ربات خودکار زیرآبی؛ فرم بدنه شبه ماهی؛ پایداری دینامیکی رول؛ دینامیک سیالات محاسباتی؛ ضریب هیدرودینامیکی بازدارنده | ||
| عنوان مقاله [English] | ||
| Roll Dynamic Stability of an Autonomous Underwater Vehicle with a Fish-like Hull Shape | ||
| نویسندگان [English] | ||
| Amir Honaryar1؛ Mahmoud Ghiasi2 | ||
| 1PhD Student / Department of Maritime Engineering , Amirkabir University of Technology | ||
| چکیده [English] | ||
| An autonomous underwater vehicle designed and manufactured with fish-like hull shape in order to survey subsea pipeline and cable is analyzed hydrodynamically. Not only does having high hydrodynamic stability increase course keeping ability, but it facilitates dynamic behavior control of robot regarding the disturbances like marine currents in the water. Roll dynamic instability would be an adverse phenomenon for underwater vehicles results in the deviation from the main path. After mentioning governing motion equations of vehicle, hydrodynamic moment acting on the body has been computed numerically using computational fluid dynamics. The robot is assumed to be a rigid body and the flow passing over it is considered steady and incompressible. Having extracted relationship between moment and flow angular velocity, the linear hydrodynamic coefficient needed for stability analysis is estimated. Using this damping coefficient, roll dynamic stability of the robot has been evaluated. To ensure the accuracy of numerical results, computations are compared with axisymmetric body designed and manufactured in Ship Hydrodynamic Department of David Taylor Research Center; Comparisons show firmly good agreement with experiments. Results reveal that roll dynamic stability of proposed hull shape with triangular cross-section is 10 times as great as that of conventional axisymmetric body with circular cross-section. | ||
| کلیدواژهها [English] | ||
| Autonomous underwater vehicle, Fish-like hull shape, Roll dynamic stability, Computational fluid dynamics, Hydrodynamic damping coefficient | ||
| مراجع | ||
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