尾鳍柔性变形对仿金枪机器鱼自主游动的影响  

Effect of caudal-fin flexible deformation on self-propelled swimming of a tuna-like bio-mimetic underwater vehicle

作　　者：刘焕兴[1] 苏玉民[1] 张曦[1] 王硕[1] 

机构地区：[1]哈尔滨工程大学水下机器人技术重点实验室,黑龙江哈尔滨150001

出　　处：《华中科技大学学报（自然科学版）》2014年第3期117-121,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(50879014)

摘　　要：以自由游动为基础,研究和探讨了尾鳍柔性对仿金枪鱼水下机器人自主加速及巡游运动的影响.首先应用计算流体动力学(CFD)技术建立自主游动的计算模型,然后对不同柔性变形参数下的仿金枪鱼的运动和水动力性能进行模拟和分析.结果表明:当仿金枪鱼自主加速到稳定巡游时,其阻力和推力达到平衡;尾涡对推力有增加作用.弦向柔性变形相位角、变形位置、变形幅度及拱度对自主游动的巡游速度和尾鳍水动力性能有重要影响.使弦长前半部分也发生变形可以提高推进效率;当柔性变形落后横移运动π/2相位或取适当的变形幅度和拱度时,仿金枪鱼自主游动的推进效率取得极大值.A study about the effect of caudal-fin flexibility on the self-propelled accelerating and cruising swimming of a tuna-like bio-mimetic underwater vehicle was presented based on free swimming. Firstly,the numerical computational model of the self-propelled swimming was developed by computational fluid dynamics（CFD）technique.Then,both the swimming process and hydrodynamic performance of the tuna with different deformation parameters were simulated and analyzed.The results show that the drag and the thrust reach a balance when the tuna accelerates to the stability condition at a cruise speed,and the wake vortex enhances thrust.Chordwise deflection phase angle,flexible deformation location,amplitude and bending have a crucial influence on cruising velocity and caudal-fin hydrodynamic performance of the self-propelled swimming.When the first half part of chord is also flexible,it can improve the efficiency.Propulsion efficiency has a maximum when the flexible deformation phase isπ/2behind the heaving or there are proper deformation amplitude and bending.

关 键 词：水动力学 柔性变形 水下机器人 自主游动 尾涡 相位角 

分 类 号：U661.1[交通运输工程—船舶及航道工程]