电机推进器的效率直接影响自主/遥控水下机器人(ARV)的续航能力，不仅和电机自身效率有关，还和导管、螺旋桨结构参数有关。针对万米ARV所用推进器，基于坐标变换进行导管螺旋桨三维建模。搭建导管螺旋桨计算流体力学(CFD)仿真模型，分析其水动力性能。通过永磁推进电机本体与控制系统联合仿真，计算电机损耗和效率。分析在导管螺旋桨产生的总推力一定的条件下，其盘面比、纵倾角及导管攻角与推进器整体效率之间的关系。仿真结果对导管螺旋桨的设计和优化具有一定的指导意义。

The endurance of ARV is directly affected by the efficiency of motor thruster, which is related with the efficiency of motor itself and the structure parameters of duct and propeller. Based on the coordinate transformation, the three-dimensional model of ducted propeller is established for a 10 000 meter ARV. The CFD simulation model of ducted propeller is built to analyze the hydrodynamic performance. Through the co-simulation of the permanent magnet propulsion motor and the control system, the loss and efficiency of the motor are calculated. Under the condition that the total thrust produced by the ducted propeller is constant, the relationship between structure parameters (disk surface ratio, trim angle and attack angle of the duct) and the thruster’s overall efficiency is analyzed. The results have certain guiding significance for the design and optimization of ducted propeller.

国家重点研发计划子课题项目(2016YFC0300703)