中文摘要：

为了提高采用单螺旋桨推进器配合单方向舵和双水平翼控制航向与平衡的具有封闭式流线型外形水下机器人的可操作性并减小其航行阻力，设计了水下机器人舵翼结构，并运用数值模拟方法对翼型绕流问题进行研究．应用流体力学计算软件FLUENT，以有限体积法和RNG κ-ε湍流模型直接求解RANS方程，对三维翼型在不同攻角、不同雷诺数下的流场进行数值模拟，并计算其水动力性能，得到不同攻角时舵翼叶面和叶背表面的压力分布图．分析了不同雷诺数、不同攻角下舵翼的流场压力系数、速度矢量分布图和升阻力，并讨论了扭矩系数随攻角变化的规律．研究结果对于水下机器人舵翼水动力性能研究和强度设计具有一定参考价值．

英文摘要：

In order to improve the operability and reduce the voyage resistance of the enclosed streamlined shaped mini-underwater robot which uses single-propeller, single rudder and two level wings to control the direction and balance, the rudder wing structure is designed and the airfoil flow around is investigated by numerical simulation method. Using computational fluid dynamics software FLUENT, the RANS equations is directly solved by finite volume method and RNG κ-ε turbulence mode. Hydrodynamic simulations of three-dimensional airfoil flow at different angles of attack and Reynolds numbers are investigated and its hydrodynamic performance is calculated. The pressure distribution of foliage surface and dorsal surface of rudder wing is analyzed at different angles of attack. And then the pressure coefficients, velocity vector maps, lift and drag of the flow field are researched at different angles of attack and Reynolds numbers. The variation of torque coefficients with angles of attack is also discussed. The results have a certain reference value for hydrodynamic properties investigation and strength design of rudder of underwater robots.