CFD Simulation Study on Propulsion Performance of Air-Water Dual-Mode Cross-Medium Robot
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摘要: 为应对复杂海洋环境中跨介质作业的需求, 针对一款具备空中与水下双模态运动能力的跨介质机器人, 开展了推进系统的计算流体力学(CFD)仿真研究。由于空气与水的密度、黏性等物理性质存在显著差异, 传统单环境推进器难以兼顾2种介质的高效推进。为此, 文中建立了涵盖空中与水下2种典型工况的三维瞬态CFD模型, 采用滑移网格与流体体积方法, 对单螺旋桨与多推进器耦合系统进行对比仿真分析, 揭示了跨介质推进系统在推力系数、推进效率与尾流干扰等方面的差异性及规律。结果表明, 在3 kn航速下, 水下推进系统效率最高可达48.48%, 显著高于空中推进系统(7.43%); 多推进器协同运行会引起尾流耦合干扰, 但在合理布局下可提升整体效率。文中构建了统一的空-水推进CFD分析框架, 提出了一种跨介质推进性能定量评估方法, 为跨介质机器人推进系统的布局优化与多模态协同设计提供理论参考。Abstract: To meet the demand for cross-medium operations in complex marine environments, this paper conducted a computational fluid dynamics(CFD) simulation study on the propulsion system of a cross-medium robot with air-water dual-mode motion capability. Due to the significant differences in physical properties such as density and viscosity between air and water, traditional single-environment propellers fail to balance high propulsion efficiency in both media. To address this, this paper established a three-dimensional transient CFD model covering typical aerial and underwater conditions. The sliding mesh and volume of fluid methods were adopted to perform a comparative simulation analysis of single-propeller and multi-propeller coupled systems, revealing the differences and patterns of the cross-medium propulsion system in terms of thrust coefficient, propulsion efficiency, and wake interference. The results indicate that at a speed of 3 kn, the underwater propulsion system achieves an efficiency of up to 48.48%, significantly higher than that of the aerial propulsion system(7.43%). Although multi-propeller operation induces wake coupling interference, an optimized layout can improve the overall efficiency. This paper constructed a unified CFD analysis framework for air-water propulsion and proposed a quantitative evaluation method for cross-medium propulsion performance, providing theoretical support for the layout optimization and multimodal coordination design of cross-medium robots.
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Key words:
- cross-medium robot /
- air-water dual-mode /
- CFD simulation /
- performance propulsion /
- wake /
- multimodal coordination
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图 4 空中螺旋桨计算域尺寸及边界条件(单组)
Figure 4. Dimensions of the computational domain and boundary conditions of the aerial propeller(single)
图 5 空中螺旋桨中纵剖面网格划分(单组)
Figure 5. Mesh distribution of the aerial propeller on the central longitudinal section(single)
图 8 空中螺旋桨气动性能时历曲线(单组)
Figure 8. Time history curves of aerodynamic performance of the aerial propeller(single)
图 10 空中螺旋桨速度场分布(单组)
Figure 10. Velocity field distribution of the aerial propeller (single)
图 11 空中螺旋桨中纵剖面处速度分布(单组)
Figure 11. Velocity distribution on the aerial propeller in the central longitudinal section(single)
图 12 空中螺旋桨计算域尺寸及边界条件(多组)
Figure 12. Dimensions of the computational domain and boundary conditions for aerial propellers(multiple)
图 13 空中螺旋桨中纵剖面网格划分(多组)
Figure 13. Mesh distribution on aerial propellers in the central longitudinal section(multiple)
图 15 空中螺旋桨的边界层划分(多组)
Figure 15. Boundary layer division of the aerial propeller(multiple)
图 18 空中螺旋桨气动性能时历曲线(多组)
Figure 18. Time history curves of aerodynamic performance of aerial propellers(multiple)
图 20 空中螺旋桨中纵剖面速度场(多组)
Figure 20. Velocity field of aerial propellers in the central longitudinal section(multiple)
图 21 空中螺旋桨位置速度场(多组)
Figure 21. Velocity field at aerial propellers position (multiple)
图 22 水下螺旋桨计算域尺寸和边界条件(单组)
Figure 22. Dimensions of the computational domain and boundary conditions for the underwater propeller (single)
图 23 水下螺旋桨中纵剖面网格划分(单组)
Figure 23. Mesh generation of the underwater propeller in the central longitudinal section(single)
图 24 水下螺旋桨表面网格划分(单组)
Figure 24. Mesh generation on the surface of the underwater propeller(single)
图 25 水下螺旋桨边界层划分(单组)
Figure 25. Boundary layer division of the underwater propeller(single)
图 26 水下螺旋桨水动力性能时历曲线(单组)
Figure 26. Time history curves of hydrodynamic performance of the underwater propeller
图 27 水下螺旋桨压力分布(单组)
Figure 27. Pressure distribution on the underwater propeller(single)
图 28 水下螺旋桨桨盘面位置速度分布(单组)
Figure 28. Velocity distribution on the position of the underwater propeller disk plane(single)
图 29 水下螺旋桨尾流速度分布(单组)
Figure 29. Wake velocity distribution of the underwater propeller(single)
图 30 水下螺旋桨中纵剖面处速度分布(单组)
Figure 30. Velocity distribution on underwater propeller in the central longitudinal section(single)
图 31 水下螺旋桨计算域尺寸和边界条件(多组)
Figure 31. Dimensions of the computational domain and boundary conditions for underwater propellers (multiple)
图 32 水下螺旋桨中纵剖面网格划分(多组)
Figure 32. Mesh generation of underwater propellers in the central longitudinal section(multiple)
图 33 水下螺旋桨表面网格划分(多组)
Figure 33. Mesh generation on the surface of the underwater propeller(multiple)
图 34 水下螺旋桨边界层划分(多组)
Figure 34. Boundary layer division of the underwater propeller(multiple)
图 35 水下螺旋桨滑移网格区域(多组)
Figure 35. Sliding mesh region of underwater propellers (multiple)
图 37 水下螺旋桨水动力性能时历曲线(多组)
Figure 37. Time history curves of hydrodynamic performance of underwater propellers(multiple)
图 38 水下螺旋桨压力分布(多组)
Figure 38. Pressure distribution on the underwater propeller(multiple)
图 39 水下螺旋桨桨盘面位置速度分布(多组)
Figure 39. Velocity distribution of the underwater propeller disk plane(multiple)
图 40 水下螺旋桨尾流速度分布(多组)
Figure 40. Wake velocity distribution of underwater propellers(multiple)
图 41 水下螺旋桨中纵剖面处速度分布(多组)
Figure 41. Velocity distribution of underwater propellers in the central longitudinal section(multiple)
表 1 空中螺旋桨3套网格的尺寸和数量(单组)
Table 1. Sizes and numbers of three mesh sets of the aerial propeller(single)
网格编号 网格质量 最小网格尺寸/m 网格总数 1 精细 4.75×10−4 13 863 440 2 中等 6.25×10−4 7 143 909 3 粗糙 7.50×10−4 4 676 327 
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表 2 空中螺旋桨网格收敛性分析结果(单组)
Table 2. Results of grid convergence analysis for the aerial propeller(single)
物理量 $ \phi_{1} $ $ \phi_{2} $ $ \phi_{3} $ $ \phi_{\mathrm{ext}}^{21} $ $ e_{a}^{21} $ $ e_{\mathrm{ext}}^{21} $ $ GCI^{21}/{\text{%}} $ 推力
系数0.078 3 0.079 8 0.081 9 0.077 9 0.016 6 0.007 5 0.94 转矩
系数0.011 4 0.011 8 0.013 0 0.011 3 0.035 1 0.005 5 0.69
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表 3 空中螺旋桨气动性能统计结果(单组)
Table 3. Statistical results of aerodynamic performance of the aerial propeller(single)
变量 数值 航速/kn 3 驱动转速/(r/min) 1 500 推力系数 0.079 8 转矩系数 0.011 8 功率系数 0.073 8 推进效率 0.072 9
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表 4 空中螺旋桨3套网格尺寸和数量(多组)
Table 4. Sizes and numbers of three mesh sets for aerial propellers(multiple)
网格编号 网格质量 最小网格尺寸/m 网格总数 1 精细 3.8×10−4 25 345 372 2 中等 5.0×10−4 14 519 320 3 粗糙 7.0×10−4 7 804 743
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表 5 空中螺旋桨网格收敛性分析结果(多组)
Table 5. Results of grid convergence analysis for aerial propellers(multiple)
物理量 ${\phi}_{1} $ $ \phi_{2} $ $ \phi_{3} $ $ \phi^{21}_{\mathrm{ext }}$ $ e_{a}^{21} $ $e^{21}_{\mathrm{ext}} $ $ GC I^{21}$ 推力 173.13 N 173.87 N 175.21 N 171.85 N 0.004 3 N 0.007 4 N 0.77% 转矩 22.76 $\mathrm{N} \cdot \mathrm{~m} $ 23.15 $\mathrm{N} \cdot \mathrm{~m} $ 23.24 $\mathrm{N} \cdot \mathrm{~m} $ 23.67 $\mathrm{N} \cdot \mathrm{~m} $ 0.017 1 $\mathrm{N} \cdot \mathrm{~m} $ 0.003 8 $\mathrm{N} \cdot \mathrm{~m} $ 0.38%
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表 6 空中螺旋桨气动性能统计结果(多组)
Table 6. Statistical results of aerodynamic performance of aerial propellers(multiple)
螺旋桨编号 推力系数 转矩系数 功率系数 推进效率 1 0.081 6 0.011 8 0.074 0 0.074 3 2 0.086 9 0.012 6 0.079 0 0.074 2 3 0.082 0 0.012 0 0.075 5 0.073 2 4 0.083 2 0.012 1 0.075 7 0.074 0
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表 7 跨介质机器人空中航行升阻力
Table 7. Lift and drag forces during the aerial navigation of the cross-medium robot
变量 数值 航速/kn 3 转速/(r/min) 1 500 升力/N 173.87 阻力/N 5.98
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表 8 水下螺旋桨3套网格尺寸和数量(单组)
Table 8. Sizes and numbers of three mesh sets of the underwater propeller(single)
网格编号 网格质量 最小网格尺寸/m 网格总数 1 精细 1.31×10−4 10 984 385 2 中等 1.75×10−4 6 028 379 3 粗糙 2.45×10−4 3 101 420
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表 9 水下螺旋桨网格收敛性分析结果(单组)
Table 9. Results of grid convergence analysis for the underwater propeller(single)
物理量 $ {\phi}_{1} $ $ \phi_{2} $ $ \phi_{3} $ $ \phi^{21} $ $ e_{a}^{21} $ $ {e_{{\mathrm{ext}}}}^{21} $ $ G C I^{21}/{\text{%}} $ 推力
系数0.443 2 0.440 6 0.432 1 0.444 7 0.005 9 0.003 3 0.41 转矩
系数0.073 8 0.073 1 0.071 6 0.074 6 0.009 5 0.010 9 1.37
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表 10 水下螺旋桨水动力性能统计结果(单组)
Table 10. Statistical results of hydrodynamic performance of underwater propeller(single)
变量 数值 航速/kn 3 驱动转速/(r/min) 1 500 推力系数 0.440 6 转矩系数 0.073 1 敞水效率 0.441 7
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表 11 水下螺旋桨3套网格的尺寸和数量(多组)
Table 11. Sizes and numbers of three mesh sets of underwater propellers(multiple)
网格编号 网格质量 最小网格尺寸/m 网格总数 1 精细 2.250×10−4 18 041 700 2 中等 3.125×10−4 9 121 663 3 粗糙 4.125×10−4 5 522 231
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表 12 水下螺旋桨网格收敛性分析结果(多组)
Table 12. Results of grid convergence analysis for underwater propellers(multiple)
物理量 $ {\phi}_{1} $ $ \phi_{2} $ $ \phi_{3} $ $ \phi_{{\mathrm{ext}}}^{21} $ $ e_{a}^{21} $ $ e_{{\mathrm{ext}}}^{21} $ $ G C I^{21} $ 推力 327.73 N 326.82 N 324.97 N 328.12 N 0.0012 N0.0028 N0.15% 转矩 6.85 $\mathrm{N} \cdot \mathrm{~m} $ 6.77 $\mathrm{N} \cdot \mathrm{~m} $ 6.61 $\mathrm{N} \cdot \mathrm{~m} $ 6.89 $\mathrm{N} \cdot \mathrm{~m} $ 0.0117 $\mathrm{N} \cdot \mathrm{~m} $0.0051 $\mathrm{N} \cdot \mathrm{~m} $0.65%
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表 13 水下螺旋桨水动力性能统计结果(多组)
Table 13. Statistical results of hydrodynamic performance of underwater propellers(multiple)
螺旋桨编号 推力系数 转矩系数 敞水效率 1 0.427 2 0.065 9 0.476 8 2 0.438 6 0.066 3 0.484 8 3 0.372 6 0.059 6 0.458 6 4 0.387 4 0.059 6 0.476 5
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表 14 跨介质机器人水下航行时升阻力
Table 14. Lift and drag forces during the underwater navigation of the cross-medium robot
变量 数值 航速/kn 3 转速/(r/min) 1 500 升力/N 326.82 阻力/N 636.24
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