| With UUV applications continue to expand, the corresponding UUV recovery technology has also been developed from recovery by surface ships to autonomous underwater recovery way. In order to achieve continuous autonomous civilian working for the UUV, to provide support in the military aspects of covert operations for UUV, to build the "marine station" in the future, UUV underwater recovery plays an indispensable technical support. This paper aims to do some research in the hydrodynamic interaction and dynamics relative to UUV underwater recovery by submarine. The main contents of research and innovations obtained are summarized as follows:(1) Research on hydrodynamic numerical computation of UUV and submarine1) Mathematical models and numerical methods of Panel method and RANS method which are used for hydrodynamic computation of UUV and submarine are described.2) Computational strategies of Panel method and RANS method which are suitable for solving the hydrodynamic computation of UUV are given, also the impact of Re number, angle of attack and sideslip angles on UUV hydrodynamic coefficients are studied.3) Computational strategies of Panel method and RANS method which are suitable for solving the hydrodynamic computation of SUBOFF are given, also the scale effect on flow field of SUBOFF is studied.(2) Research on hydrodynamic interference from submarine to UUV hydrodynamic coefficients1) Local surface element mesh refinement method is given to overcome the scale differences between UUV and submarine.2) Splicing method of structured meshing domain based on the block thinking using internal interface is given. This method ensures that quality of domain grids of different operating conditions are at the same level.3) Based on RANS method and Panel method, the relationship between hydrodynamic interference to UUV and the relative position of the submarine are researched.4) Based on RANS method and Panel method, the relationship between hydrodynamic interference to UUV and Re and attitude angles of UUV are researched.(3) Research on the hydrodynamic interference of UUV moving relative to submarine1) Based on dynamic layering method, structural domain mesh used to simulate UUV moves relative to submarine is given.2) Based on RANS method, UUV moves parallel to the longitudinal axis of the submarine is simulated. And also the relative rules are obtained.3) Based on RANS method, UUV moves perpendicular to the longitudinal axis of the submarine is simulated. And also the relative rules are obtained.(4) Research on additional mass interference of UUV from submarine1) Based on Panel Method, mathematical model for calculating additional mass of UUV considering the disturbance of the boundary wall is given.2) Precision of calculation of four element mesh strategies are researched. Based on the ellipsoid fixing method, added mass calculation strategy of UUV is given.3) Based on Panel Method, relationship between added mass of UUV and the distance to the wall is researched.(5) Research on interference of maneuverability of UUV considering submarine disturbance1) Based on Newton- Euler method and double European method, the 6 DOF mathematical model of UUV is established.2) Longitudinal motion perturbation equations of UUV is derived considering hydrodynamic interference. And the interference to motion parameters of UUV from around flow of submarine is studied.3) Lateral-roll motion perturbation equations of UUV is derived considering hydrodynamic interference. And the interference to motion parameters of UUV from around flow of submarine is studied.(6) Research on guidance laws for UUV underwater recovery1) Based on classical method of guidance, chasing method, fixed advance angle method, parallel approaching method and proportional are analyzed. And navigation strategies of UUV recovery are proposed.2) Analysis of the initial conditions of fixed advance angle method for recovery guidance are studied.3) Feasibility of the proposed guidance strategy is verified through trajectory simulation. |
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