关键词: 水下履带装备, 人工侧线, 流场识别, 黏性水阻力

Abstract:  Aiming at the challenge that the hydrodynamic forces of underwater equipment could not be measured in real time， a method for calculating the hydrodynamic forces of track equipment was proposed based on ALL. Through the ALL system of the track equipment， the pressure values of different incoming flow speeds and angles were extracted， and the distribution law of pressure values was used to perceive the local flow field information of the track equipment. Through the hydrodynamic force restraint experiments of the track equipment combined with the computational fluid dynamics（CFD）simulation method， the functional relationship between the front surface shapes of the track equipment and the viscous coefficient was established. Based on the flow field perception results of the ALL， the hydrodynamic force empirical model of the track equipment was derived. The verification results show that the pressure distribution characteristics of the ALL may effectively identify the incoming flow velocity and angle. The hydrodynamic force empirical model combined with the results of ALL perception may be used to estimate the hydrodynamic force of underwater track equipment in real time， the water resistance calculation error of underwater track equipment model is within the acceptable range of the engineering application. 

Key words:  , underwater track equipment； artificial lateral line(ALL)； flow field identification； viscous hydrodynamic force