(中南大学 机电工程学院，长沙 410083)
摘 要: 深海采矿机器人布放入水过程中的安全性和控制性能直接影响到整个采矿系统的可靠性。为获得深海采矿机器人入水过程流场变化规律，提高机器人控制性能，本文采用数值模拟和实验验证相结合的方式开展机器人入水特性及空泡演变研究，主要内容为：基于重叠网格方法和流体体积法，采用STAR-CCM+建立深海采矿机器人数值波浪水槽气-液-固多相耦合模型，研究在海浪条件下深海采矿机器人的布放入水特性，预测其在入水过程中的运动行为和动力学行为，获得不同布放速度下其冲击载荷、位移、速度以及空泡演变规律；搭建机器人入水实验平台，利用高速摄影仪获得机器人入水的空泡特征和位移速度时程曲线。实验结果验证了所提数值模型的可行性和准确性。
关键字: 深海采矿机器人；入水特性；空泡演变；数值建模
（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
