管道内差压驱动机器人相关流场数值模拟研究

管道内流场对机器人的驱动力是设计管内机器人外形尺寸的基本依据,本文用数值方法计算了管道内检测机器人所受的差压驱动力。在合理提出一些基本假设后,用一阶迎风和中心差分格式离散管道内检测机器人附近流场的控制方程,用SIMPLE算法求得了不同入口流速下机器人附近的流场分布,以及流场对机器人的驱动力。结果表明雷诺数为1875时,机器人下游流场变为湍流;当雷诺数为60000时,机器人下游流场变为非定常流,出现周期性流动;计算数据还表示驱动力只与管内平均流速有关而与运行压力无关。

Numerical Simulation to Flow Field Around Differential-Pressure-Driven In-Pipe Robot

The differential pressure force to drive in-pipe inspection robot was numerically computed.On the basis of some reasonable assumptions,the governing equations of in-pipe flow field around robot were established and discretized using one order upwind and central scheme.Solving the equations using SIMPLE algorithm at different inlet velocities,the flow field around the robot and the forces acting on the robot were obtained.The result shows that the flow field downstream of the robot becomes turbulent when Re=1875,and becomes unsteady when Re=60000,and the drive force is dependent on the mean velocity instead of inner pressure.