Author Contributions
Conceptualization, J.W. and Y.D.; methodology, Y.D., J.W. and L.Z.; software, Y.D. and L.Z.; validation, Y.D. and H.L.; formal analysis, Y.D. and L.Z.; investigation, C.M. and X.H.; resources, L.Z.; data curation, Y.D. and L.Z.; writing—original draft preparation, Y.D. and L.Z.; writing—review and editing, Y.D., J.W. and X.H.; visualization, S.X.; supervision, H.L. and C.M.; project administration, J.W.; funding acquisition, J.W. All authors have read and agreed to the published version of the manuscript.
Figure 1.
Calculation domain grids of the test ducted propeller. (a) Global mesh; (b) Mesh of ducted propeller.
Figure 1.
Calculation domain grids of the test ducted propeller. (a) Global mesh; (b) Mesh of ducted propeller.
Figure 2.
Example 1 comparison results.
Figure 2.
Example 1 comparison results.
Figure 3.
Example 2 comparison results.
Figure 3.
Example 2 comparison results.
Figure 4.
The mesh comparison results used in this paper.
Figure 4.
The mesh comparison results used in this paper.
Figure 5.
The propeller efficiency curve at 1500 rpm.
Figure 5.
The propeller efficiency curve at 1500 rpm.
Figure 6.
Rotation speed at 500 rpm.
Figure 6.
Rotation speed at 500 rpm.
Figure 7.
Rotation speed at 1000 rpm.
Figure 7.
Rotation speed at 1000 rpm.
Figure 8.
Mesh update process. (a) t = 0 s; (b) t = 0.1 s; (c) t = 0.3 s; (d) t = 0.5 s.
Figure 8.
Mesh update process. (a) t = 0 s; (b) t = 0.1 s; (c) t = 0.3 s; (d) t = 0.5 s.
Figure 9.
Geometrical model of the ducted propeller. (a) Front view; (b) Cubic diagram.
Figure 9.
Geometrical model of the ducted propeller. (a) Front view; (b) Cubic diagram.
Figure 10.
Geometrical model of the underwater robot. (a) Planform; (b) Cubic diagram.
Figure 10.
Geometrical model of the underwater robot. (a) Planform; (b) Cubic diagram.
Figure 11.
Computational domains of the underwater robot system.
Figure 11.
Computational domains of the underwater robot system.
Figure 12.
Computational domain meshes for the underwater robot system. (a) Volume mesh of computational domain; (b) Surface mesh of the robot.
Figure 12.
Computational domain meshes for the underwater robot system. (a) Volume mesh of computational domain; (b) Surface mesh of the robot.
Figure 13.
Straight advance of each propeller thrust curve.
Figure 13.
Straight advance of each propeller thrust curve.
Figure 14.
The vertical deep motion of each propeller thrust curve.
Figure 14.
The vertical deep motion of each propeller thrust curve.
Figure 15.
The two-dimensional linear motion of each propeller thrust curve.
Figure 15.
The two-dimensional linear motion of each propeller thrust curve.
Figure 16.
Thrust curves of the two-dimensional circular motion of the underwater robot system. (a) Va = 0.2 kn; (b) Va = 0.5 kn; (c) Va = 1.0 kn; (d) Va = 1.5 kn.
Figure 16.
Thrust curves of the two-dimensional circular motion of the underwater robot system. (a) Va = 0.2 kn; (b) Va = 0.5 kn; (c) Va = 1.0 kn; (d) Va = 1.5 kn.
Figure 17.
Underwater robot system circular motion mesh change under Va equals 2.0 kn. (a) θ = 0; (b) θ = 0.4 π; (c) θ = 0.8 π; (d) θ = 1.2 π; (e) θ = 1.6 π; (f) θ = 2.0 π.
Figure 17.
Underwater robot system circular motion mesh change under Va equals 2.0 kn. (a) θ = 0; (b) θ = 0.4 π; (c) θ = 0.8 π; (d) θ = 1.2 π; (e) θ = 1.6 π; (f) θ = 2.0 π.
Figure 18.
Z-directional fluid resistance of the underwater robot.
Figure 18.
Z-directional fluid resistance of the underwater robot.
Figure 19.
Y-directional fluid resistance of the underwater robot.
Figure 19.
Y-directional fluid resistance of the underwater robot.
Figure 20.
Thrust curves of the three-dimensional circular motion of the underwater robot. (a) Va = 0.2 kn; (b) Va = 0.5 kn; (c) Va = 1.0 kn; (d) Va = 1.5 kn.
Figure 20.
Thrust curves of the three-dimensional circular motion of the underwater robot. (a) Va = 0.2 kn; (b) Va = 0.5 kn; (c) Va = 1.0 kn; (d) Va = 1.5 kn.
Table 1.
Primary parameters of the test ducted propeller.
Table 1.
Primary parameters of the test ducted propeller.
Diameter (mm) | 47.3 |
Disk ratio | 0.7 |
Pitch ratio | 0.99 |
Leaf angle (°) | 8 |
Hub diameter ratio | 0.18 |
Number of leaves | 4 |
Catheter length(mm) | 23.6 |
Catheter inlet diameter (mm) | 61 |
Table 2.
Fundamental parameters and techniques applied in the four domains.
Table 2.
Fundamental parameters and techniques applied in the four domains.
Domain | I | II | III | IV |
---|
Geometric dimensions (mm) | | | | |
Mesh technique applied | Sliding mesh | Dynamic mesh | Dynamic mesh | Dynamic mesh |
Type of mesh | Unstructured mesh | Unstructured mesh | Unstructured mesh | Structural mesh |
Table 3.
Boundary conditions of the computational domains.
Table 3.
Boundary conditions of the computational domains.
Item | Limits of Boundary | Definition of Boundary Conditions |
---|
1 | Surface of the propeller | Moving non-slip boundary condition |
2 | Spatial contour of the duct | Non-slip boundary condition |
3 | Peripheral boundary of Domain IV | Non-slip boundary condition |
4 | Inlet boundary of Domain IV | Velocity inlet boundary condition coinciding with inflow velocity |
5 | Outlet boundary of Domain IV | Pressure outlet boundary condition |
6 | Interfaces among Domain I to Domain IV | Interface technique |
Table 4.
Mesh information in the three cases.
Table 4.
Mesh information in the three cases.
Domain | Number of Meshes (105) |
---|
Case 1 | Case 2 | Case 3 |
---|
I | 0.56 | 1.01 | 1.6 |
II | 0.55 | 0.93 | 1.65 |
III | 0.26 | 0.45 | 0.48 |
IV | 0.39 | 0.39 | 0.39 |
Total | 1.76 | 2.78 | 4.12 |
Table 5.
Mesh information.
Table 5.
Mesh information.
Computational Domain | Geometric Dimensions (mm) | Number of Meshes (105) | Type of Mesh |
---|
Example 1 | Example 2 | Meshes Used in This Section |
---|
I | | 0.56 | 1.01 | 1.6 | unstructured mesh |
II | | 0.55 | 0.93 | 1.65 | unstructured mesh |
III | | 0.26 | 0.45 | 0.48 | unstructured mesh |
IV | | 0.39 | 0.39 | 0.39 | structural mesh |
Total mesh | | 1.76 | 2.78 | 4.12 | |
Table 6.
The axial induction velocity at different speeds.
Table 6.
The axial induction velocity at different speeds.
Inlet velocity (kn) | 0.2 | 0.4 | 0.6 | 0.8 | 1.0 |
Axial-induced velocity(m/s) | 0.155 | 0.144 | 0.125 | 0.097 | 0.072 |
Table 7.
Primary parameters of the ducted propeller.
Table 7.
Primary parameters of the ducted propeller.
Diameter (mm) | 86 |
Disk ratio | 0.7 |
Pitch ratio | 0.99 |
Leaf angle (°) | 8 |
Hub diameter ratio | 0.18 |
Number of leaves | 4 |
Catheter length (mm) | 43 |
Catheter inlet diameter (mm) | 113.7 |
Catheter outlet diameter (mm) | 100.03 |
Table 8.
Boundary conditions of the underwater robot system.
Table 8.
Boundary conditions of the underwater robot system.
Serial Number | Boundary Scope | Definition of Boundary Conditions in the Computational Domain |
---|
1 | Surface of propeller | Movement non-slip boundary conditions |
2 | Internal and external surfaces of ducts | Fixed non-slip boundary conditions |
3 | The main surface of the underwater robot | Fixed non-slip boundary conditions |
4 | Computational Domain IV side | Fixed non-slip boundary conditions |
5 | Computational Domain IV lower surface | Pressure outlet boundary conditions |
6 | Computational Domain IV upper surface | Speed entry boundary conditions |
7 | Transition boundary between regions I and IV | Interface |
Table 9.
Information about the underwater robot system’s calculation domain meshes.
Table 9.
Information about the underwater robot system’s calculation domain meshes.
Computational Domain | Geometric Dimensions (mm) | Mesh Type | Number of Meshes (106) |
---|
I-I | | unstructured mesh | 0.36 |
I-II | | unstructured mesh | 0.36 |
I-III | | unstructured mesh | 0.367 |
II | | unstructured mesh | 1.276 |
III | | unstructured mesh | 1.0 |
IV | | structural structural mesh | 0.718 |
Total | | | 4.081 |