基于合成射流方法的水下机器人推力矢量技术机理研究

The navigation control surfaces of traditional Unmanned Underwater Vehicle (UUV) are Propellers and Rudders. The efficiency of such system sharp declined when the velocity of UUV kept in low level, and such system can not meet the need of navigation control of micro-UUV and high-maneuverability-UUV. .In this research, to improve the maneuverability of traditional UUV, we will bring the thrust vectored technology in the UUV maneuver. The research in aerodynamics thrust vectored tecnology shows that synthetic jet built by a string of vortex has great prospect in fluid flow vectored control. .This research focus on the different mechanism between aerodynamics and hydrodynamics in turbulent flow vectored control in vortex level,especially the compressibility and viscosity different between air and water,and the research will finally focused on UUV thrust vectored mechanism based on synthetic jet..The research will quest and figure out the three scientific problems:.1) the mechanism of synthetic jet generating and controling in water medium,.2) the mechanism of synthetic jet actuator in water medium,.3) the mechanism of thrust vectored control of UUV based on synthetic jet in water medium. .Finally, the research will be tested and verified in UUV synthetic jet thrust vectored simulation platform and tank experiment..We hope that the mechanism of UUV thrust vectored control based on synthetic jet will be explained clearly by this research, and to buld the foundation of micro-thruster and thrust vectored thruster based on synthetic jet in the future, and bring new idea to basic principle research and engineering application of synthetic jet.

本课题针对传统的水下机器人（UUV）采用"螺旋桨+舵"的操纵系统低速状态下操纵性差的问题以及研发微型UUV、高机动性UUV对新型操纵系统的需求，提出在UUV中应用推力矢量技术。空气动力学研究显示，由连续涡环组成的合成射流在流体流动矢量控制方面展现了良好前景。本课题重点研究水与空气可压缩性、粘性等的不同引起的涡层面的湍流控制的不同性质，开展基于合成射流方法的水下机器人推力矢量技术机理研究，探索并解决其中1）水环境中合成射流生成与控制机理，2）水环境中合成射流激励器机理，3）水中采用合成射流方法进行推力矢量控制的机理三个科学问题，并通过UUV合成射流推力矢量仿真平台和水池实验对成果进行仿真和功能验证。以期通过本课题的研究，阐明基于合成射流方法的水下机器人推力矢量机理，为未来水下微型推进器以及推力矢量推进器的研发进行理论基础和技术储备，为水介质合成射流的基础理论研究及工程应用提供新思路。

水下机器人（UUV）高精度位姿控制是制约其开展集群组网、水下对接等应用的瓶颈技术。空气动力学研究显示，由连续涡环组成的合成射流在流体流动矢量控制方面展现了良好前景。本课题重点研究水与空气可压缩性、粘性等的不同引起的涡层面的湍流控制的不同性质，开展基于合成射流方法的水下机器人推力矢量技术机理研究。通过本课题的研究，阐明了水下环境中合成射流发生机理、合成射流与水环境耦合机理、合成射流激励器机理、基于合成射流的水下机器人推力矢量机理等系统的理论。为未来水下微型推进器以及推力矢量推进器的研发提供了理论基础和技术储备，为水介质合成射流的基础理论研究及工程应用提供了新思路。