基于复合波动推进的柔性鳍运动机理研究  

The Research on the Motion Mechanism of the Flexible Undulating Fins Based on the Compound Waves'Propulsion

作　　者：殷谦 尚建忠[2] 罗自荣 YIN Qian;SHANG Jianzhong;LUO Zirong(College of Energy and Power Engineering,Changsha University of Science and Technology,Changsha 410073,China;College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]长沙理工大学能源与动力工程学院,长沙410073 [2]国防科技大学智能科学学院,长沙410073

出　　处：《工程热物理学报》2023年第7期1966-1972,共7页Journal of Engineering Thermophysics

基　　金：国家自然科学基金青年项目(No.52105289)。

摘　　要：仿鱼机器人具有高效游动能力与良好的环境适应性,被广泛应用于资源开发、环境勘探以及两栖救援等复杂任务中。本文提出了一种基于横纵波复合运动的柔性波动鳍推进器,对其水下运动机理进行分析,构建了复合波动推进的波动鳍运动模型,通过数值方法对其水下运动性能进行研究,探究其水下推进力、推进速度和推进效率等参数的变化规律。结果表明:柔性鳍在运动时所受推进力呈波动变化,一段时间后波动均值为零,鳍面高压区与低压区呈周期性变化;波动鳍驱动其周围流体获得动能,推进器最大速度达到1.2m/s,周围流体速度可达1m/s左右;随着偏转角增加,复合波动鳍面推进效率也相应增大,相比未偏转时其效率提高了11%左右。As the increasing demand of the robot in the felds of resource exploitation,risk rescue and detection,fish-inspired robots have been widely used due to the good ability of underwater swimming and environmental adaptability.In this paper,a flexible undulating fin propeller is proposed with the longitudinal and transverse waves for satisfying the requirements of the civilian fields.Based on the principle of the wave motion process and the conservation of momentum,the hydrodynamic characteristics of the undulating fin are investigated through numerical simulations with dynamic mesh method.Some numerical results of the force,the velocity and the propulsive efficiency of the fin are discussed.The results illustrate that the undulating fin is mainly pushed forward by the force in the propulsive direction and that of the pressure changes periodically.The velocity of the undulating fin propeller could reach 1.2 m/s,which that of the surrounding fuid is about 1 m/s.As the deflection angle increases,the propulsive efficiency of the undulating fin with compound waves are 11%higher than that of the fins without deflection.

关 键 词：横纵波复合 柔性波动鳍 动网格 水下运动仿真 

分 类 号：TK124[动力工程及工程热物理—工程热物理]