多推进器AUV外形优化设计与运动性能分析

Shape optimization design and motion performance analysis

摘要:

自主水下无人航行器(Autonomous underwater vehicles, AUVs) 的外形布局设计不仅影响着航行器的航行阻力、能耗等总体性能，也同时决定着快速性、稳定性和机动性的总体性能指标。采用多个推进器联合控制运动行为的多推进器自主水下无人航行器(Multi-thruster autonomous underwater vehicle, MAUV)在实际作业中，低速下的自主能力与操纵性能更强，明显优于传统采用“推进器+舵”联合操纵的AUV。故本文对无舵带鳍的六推进器AUV的外形参数化模型和空间运动模型进行建模，并建立水动力仿真和运动性能仿真系统。随后搭建离线优化框架，以稳定性和机动性为目标对MAUV外形参数进行优化。最后得到最优外形方案，并进行性能分析。

Abstract:

The external layout design of AUVs not only affects the overall performance parameters such as resistance and energy consumption but also determines the overall performance indicators of speed, stability, and agility of the vehicle. Multi-thruster Autonomous Underwater Vehicles (MAUVs), utilizing multiple thrusters for coordinated control, demonstrate stronger autonomy and maneuverability at low speeds compared to traditional AUVs controlled by a combination of "thrusters + rudder". In this paper, the shape parametric model and spatial motion model of a rudderless six-propeller AUV with fins are modelled, and hydrodynamic simulation and motion performance simulation systems are established. Subsequently, an offline optimization framework is built to optimize the MAUV shape parameters with the objectives of stability and maneuverability. Finally, the optimal shape scheme is obtained and performance analysis is performed.