救生机器人推进器的3维反问题设计与性能校验

针对水上救生机器人难以实现快速稳定航行的问题，采用3维反问题设计理论对机器人推进器进行几何设计并对相关参数进行匹配，在合理假设条件下，将喷水推进泵内的有旋流方程进行有效分解获得周向平均流动方程和周期性脉动流动方程。使用速度矩沿流线的分布来控制叶片的载荷，运用计算流体力学对所设计的喷水推进泵进行水力性能校验，结果表明：在毂径比较大等特定条件约束下，喷水推进泵的水力效率达到80.38%，并且在较宽的流量范围内保持高效，叶轮表面压力沿轴向分配合理，没有局部低压区，叶轮推力满足预期性能，验证了设计思路和参数配置的正确性。

3D Inverse Design and Performance Analysis of Water Jet Pump on Lifesaving Robot

In order to solve the problem of the lifesaving robot to achieve fast and stable navigation, the 3D inverse design theory is used to obtain the geometry of the robot pump. Under reasonable assumptions, the swirl equation in the water jet pump is effectively decomposed to obtain the circumferential mean flow equation and periodic fluctuating flow equation. The distribution of speed moment along the streamline is used to control the loading on the blade, and the hydraulic performance of the designed water jet pump is calculated by computational fluid dynamics. The results show that the hydraulic efficiency of the water jet pump reaches 80.38% under the constraints of large hub diameter ratio and other specific conditions. At the same time, it maintains high efficiency in a wide flow range. The pressure distribution along the axis of the impeller surface is reasonable, and low pressure zone is not found, the impeller thrust meets the expected value, which proves the design and parameter configuration are correct and feasible.