(中南大學(xué) 機(jī)電工程學(xué)院，長(zhǎng)沙 410083)
摘 要: 深海采礦機(jī)器人布放入水過(guò)程中的安全性和控制性能直接影響到整個(gè)采礦系統(tǒng)的可靠性。為獲得深海采礦機(jī)器人入水過(guò)程流場(chǎng)變化規(guī)律，提高機(jī)器人控制性能，本文采用數(shù)值模擬和實(shí)驗(yàn)驗(yàn)證相結(jié)合的方式開(kāi)展機(jī)器人入水特性及空泡演變研究，主要內(nèi)容為：基于重疊網(wǎng)格方法和流體體積法，采用STAR-CCM+建立深海采礦機(jī)器人數(shù)值波浪水槽氣-液-固多相耦合模型，研究在海浪條件下深海采礦機(jī)器人的布放入水特性，預(yù)測(cè)其在入水過(guò)程中的運(yùn)動(dòng)行為和動(dòng)力學(xué)行為，獲得不同布放速度下其沖擊載荷、位移、速度以及空泡演變規(guī)律；搭建機(jī)器人入水實(shí)驗(yàn)平臺(tái)，利用高速攝影儀獲得機(jī)器人入水的空泡特征和位移速度時(shí)程曲線。實(shí)驗(yàn)結(jié)果驗(yàn)證了所提數(shù)值模型的可行性和準(zhǔn)確性。
關(guān)鍵字: 深海采礦機(jī)器人；入水特性；空泡演變；數(shù)值建模
（School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China）
Abstract:The safety and control performance of the deep ocean mining vehicle during the process of water entry directly affect the reliability of the mining system. In this paper, the numerical studies and experimental verification were conducted to research on the hydrodynamic behaviors and cavitation evolution of water entry of the deep ocean mining vehicle. The main contents are as follows: A gas-liquid-solid coupling numerical model of the deep ocean mining vehicle was established in STAR-CCM+ to research on the flow distribution and hydrodynamic characteristics of water entry of the vehicle. The kinematic and dynamic behaviors of the vehicle were predicted, including impact forces, displacement, velocity, and acceleration. The evolution of cavitation and the splash of free surface were numerically simulated and experimentally observed in a water entry test based on the high-speed photography method. The experimental results validated the feasibility and accuracy of the proposed numerical methods.
Key words: deep ocean mining vehicle; characteristics of water entry; cavitation evolution; numerical modeling
