基于收敛速度的仿鱼机器人游动力学性能的数值模拟  

Numerical Simulation of the Hydrodynamics of Fishlike Robot Swimming Based on Converged Speed

作　　者：夏丹[1] 刘军考[1] 陈维山[1] 韩路辉[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《机械工程学报》2010年第1期48-54,61,共8页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50905040);哈尔滨工业大学机器人技术与系统国家重点实验室自主研究课题(SKLRS200801C)资助项目

摘　　要：将速度收敛算法应用于仿鱼机器人直线游动的数值模拟研究中,任意给定初始速度,通过检验游动过程中推进力和阻力的数值动态修正鱼体的游动速度,使其收敛到稳态值,进一步在收敛速度的基础上,对仿鱼机器人稳态游动的力学性能进行数值模拟,揭示其推进机理和流场结构。计算结果表明,改变摆动频率和尾部最大摆幅,采用速度收敛算法可以有效地预测仿鱼机器人的稳态游动速度,进而获得稳态游动的推进力、功率消耗和推进效率,三维流场结构清晰地反映尾部交变的正压梯度与头部的逆压梯度效应。研究结果对于预测仿鱼机器人的稳态游动速度,揭示稳态游动下仿鱼机器人的推进机理,设计仿鱼机器人的运动参数具有重要意义。The speed convergence algorithm is applied in the numerical simulation of a fishlike robot swimming straight forward. For an initial value given arbitrarily, the swimming speed is dynamically modified to converge to the steady value by verifying the thrust and drag forces during the swimming process. Numerical simulation of the hydrodynamic performance of the fishlike robot is carried out on the basis of the converged speed in order to reveal its propulsive mechanism and flow field structure. The results show that the steady-state swimming speed can be predicted effectively by using the speed convergence algorithm, while the thrust force, power consumption and propulsive efficiency can be obtained through varying the swing frequency and the maximum swing amplitude. The effects of positive pressure gradient and the adverse pressure gradient are clearly reflected in the 3-dimensional flow field structure around the robot. The numerical findings are of great significance to predicting the swimming speed, revealing the propulsive mechanism, and designing the motion parameters of fishlike robot.

关 键 词：仿鱼机器人 速度收敛算法 收敛速度 推进机理 流场结构 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]