摘要：In this article, a mathematical model of hydrodynamic force was established to model the influence of wall in realizing the precise control and maneuverability of a complex-shaped underwater robot. A hydrodynamic model of a robot for use in a nuclear reaction pool was presented containing not only hydrodynamics coefficients but also a wall hydrodynamic force term, which was often ignored for robots used at sea. First, hydrodynamic coefficients in the model, including viscous and inertial coefficients, were solved by simulating steady-state and unsteady-state motion by computational fluid dynamics. Next, the wall hydrodynamic force was calculated by computational fluid dynamics for different velocities and distances from the wall, and the scope of influence of the wall was identified. Finally, hydrodynamic coefficients without the wall effect and with the wall hydrodynamic force under different conditions were measured experimentally in a circulating water tank. The result demonstrated the accuracy of hydrodynamic calculation by computational fluid dynamics and verified the reliability of the hydrodynamic mathematical model.
关键词：Underwater robot; hydrodynamic coefficients; computational fluid dynamics; wall effect; a prototype test
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