水下无人系统学报2026，Vol.34Issue(1)：94-108,15.DOI:10.11993/j.issn.2096-3920.2025-0118
空-水双模态跨介质机器人推进性能CFD仿真研究
CFD Simulation Study on Propulsion Performance of Air-Water Dual-Mode Cross-Medium Robot
摘要
Abstract
To meet the demand for cross-medium operations in complex marine environments,this paper conducted a computational fluid dynamics(CFD)simulation study on the propulsion system of a cross-medium robot with air-water dual-mode motion capability.Due to the significant differences in physical properties such as density and viscosity between air and water,traditional single-environment propellers fail to balance high propulsion efficiency in both media.To address this,this paper established a three-dimensional transient CFD model covering typical aerial and underwater conditions.The sliding mesh and volume of fluid methods were adopted to perform a comparative simulation analysis of single-propeller and multi-propeller coupled systems,revealing the differences and patterns of the cross-medium propulsion system in terms of thrust coefficient,propulsion efficiency,and wake interference.The results indicate that at a speed of 3 kn,the underwater propulsion system achieves an efficiency of up to 48.48%,significantly higher than that of the aerial propulsion system(7.43%).Although multi-propeller operation induces wake coupling interference,an optimized layout can improve the overall efficiency.This paper constructed a unified CFD analysis framework for air-water propulsion and proposed a quantitative evaluation method for cross-medium propulsion performance,providing theoretical support for the layout optimization and multimodal coordination design of cross-medium robots.关键词
跨介质机器人/空-水双模态/CFD仿真/推进性能/尾流/多模态协同Key words
cross-medium robot/air-water dual-mode/CFD simulation/performance propulsion/wake/multimodal coordination分类
军事科技引用本文复制引用
孙宇锋,周晶,赵黎明,刘妹琴..空-水双模态跨介质机器人推进性能CFD仿真研究[J].水下无人系统学报,2026,34(1):94-108,15.基金项目
国家重点研发计划(2024YFB4710602) （2024YFB4710602）
浙江省杰出青年基金(R25F030023). （R25F030023）
