仿生机器鱼快速启动的水动力性能数值模拟  

Numerical simulation on hydrodynamic performance of fast-start for bionic robotic fish

作　　者：冯亿坤 刘焕兴 宿原原 苏玉民[1] FENG Yikun;LIU Huanxing;SU Yuanyuan;SU Yumin(Science and Technology on Underwater Vehicle Laboratory,Harbin Engineering University,Harbin 150001,China;Science and Technology on Underwater Vehicle Laboratory,Harbin 150001,China;Beijing Institute of Specialized Machinery,Beijing 100081,China)

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 [2]哈尔滨工程大学理学院,黑龙江哈尔滨150001 [3]北京特种机械研究所,北京100081

出　　处：《华中科技大学学报（自然科学版）》2020年第7期33-39,共7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(51479039)。

摘　　要：基于计算流体力学(CFD)方法,建立了鱼体-流体耦合的三自由度(3-DoF)自由游动的计算模型,对仿生金枪鱼模型的C-型快速启动进行了模拟.鱼体由静止开始,经过C-型快速启动之后,进入滑行阶段.对整个过程中鱼体的游动性能、水动力性能、流场速度矢量分布和三维涡结构进行分析.结果表明:在阶段1,鱼体后部快速地弯曲成C-型,首摇角速度ωz快速向负向(顺时针方向)增加至峰值之后缓慢减小,导致鱼体快速转向;在阶段2,鱼体后部快速地弹出C-型,首摇角速度ωz快速向正向(逆时针方向)增加至峰值之后迅速减小,同时纵向速度(Ux)快速向前进方向增加至幅值之后保持不变;在滑行阶段,鱼体以C-型启动获得的Ux向前滑行;在整个C-型启动阶段共有两个涡环产生,每个涡环产生一个射流,在阶段1产生的射流使得鱼体快速转向,在阶段2产生的射流使得鱼体快速向前滑行.Based on the computational fluid dynamics(CFD)method,a three-degree of freedom(3-DoF)free swimming model of fish-fluid coupling was established.The swimming performance,hydrodynamic performance,velocity vector distribution and three-dimensional vortex structure during the whole swimming process were studied.Calculation results show that in stage one,as the back of the fish body quickly bends into a C shape,the yawing angular velocityωz fast increases to the peak in negative direction(clockwise)and then slowly decreases,causing the fish body to make a quick turn;in stage two,as the back of the fish body quickly bends out the C shape,the yawing angular velocityωz increases to the peak in positive direction(counterclockwise)and then rapidly decreases,while the Ux fast increases to the peak in the forward direction and then remains unchanged;in the gliding stage,the fish body slides forward with the Ux obtained from the C-start;during C-start,there are two vortex rings generated,and each vortex ring generates a jet flow.The jet flow generated in stage one makes the fish body rapidly turn,while the jet flow generated in stage two makes the fish body rapidly slide forward.

关 键 词：仿生金枪鱼 计算流体力学(CFD) 自由游动 快速启动 数值模拟 水动力学 涡结构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] O351.2[自动化与计算机技术—控制科学与工程]