科研之友
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摘要
The catenary coupling model and six-degrees-freedom motion model are applied to establish a mathematical model for tethered underwater robot with ducted propellers. CFD method together with techniques of overlapping grid and sliding mesh is utilized to complete the numerical simulation. Influence of ocean current on the turning motion of the tethered robot, thrust of the ducted propeller and force on the cable is analyzed. Numerical results show that ducted propellers can control turning motion of the tethered robot effectively in the case of low velocity of ocean current. The yaw angle and angular velocity of the robot is depended on the ocean current. Performance of the ducted propeller is influenced by ocean current and position of the robot. Hydrodynamic performance of the tethered robot and force on the cable is greatly impacted by ocean current.
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