柔性尾鳍仿金枪鱼水下机器人自主游动研究  

Numerical research on the self-propelled swimming of a tunalike bio-mimetic underwater vehicle with flexible tail fin

作　　者：苏玉民[1] 刘焕兴[1] 张曦[1] 王硕[1] 

机构地区：[1]哈尔滨工程大学水下智能机器人国防科技重点实验室,哈尔滨150001

出　　处：《船舶力学》2013年第5期468-477,共10页Journal of Ship Mechanics

基　　金：国家自然科学基金资助项目(50879014);高等学校博士学科点专项科研基金资助项目(200802170010)

摘　　要：文章数值模拟了柔性尾鳍的仿金枪鱼水下机器人从静止加速到稳定巡游的自主游动过程,分析了其运动过程中的运动和水动力性能特点及变化,并与刚性尾鳍模型进行了比较。同时详细分析了尾鳍的运动参数如频率,摆动幅度,横移振幅对仿金枪鱼自主游动过程的影响。结果表明,仿金枪鱼在启动加速时效率较低,柔性变形可以较大地提高仿金枪鱼的推进效率;尾鳍的运动参数对自主游动过程有很大的影响:在一定的范围内,增大尾鳍的运动频率、摆动幅度和横移振幅可以提高运动速度、推力和推进效率,但过大的摆幅会降低推进效率。This paper presents a study on a self-propelled swimming tuna-like underwater vehicle with flexible tail fin. The self-propelled tuna accelerates from static condition, and reaches to the stability condition at a cruise speed. Both the swimming process and hydrodynamic performance are analyzed, which is also compared with the rigid tail fin model. The influence of the motion parameters of the tail fin on the self-propelled swimming is studied in detail. The results show that the efficiency is low at the beginning, but can be enhanced by flexible deformation considerably. The motion parameters make a crucial influence on the self-propelled swimming. Cruising speed, thrust force and propulsion efficiency could be augmented by increasing the value of motion parameters. However, large swing will reduce the propulsion efficiency.

关 键 词：柔性尾鳍 自主游动 水动力性能 尾鳍运动参数 

分 类 号：U661.43[交通运输工程—船舶及航道工程]