仿生机器鱼俯仰运动两侧胸鳍协同推进曲线数值模拟  

Numerical simulation of synergistic propulsion curves of pectoral fins on both sides of a bionic robotic fish in pitching motion

作　　者：董雅文 李宗刚[1,2,3] 黎斌 夏广庆 DONG Yawen;LI Zonggang;LI Bin;XIA Guangqing(School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China;Robotics Institute,Lanzhou Jiaotong University,Lanzhou 730070,China;State Key Laboratory of Structural Analysis for Industrial Equipment,Dalian University of Technology,Dalian 116023,China)

机构地区：[1]兰州交通大学机电工程学院,甘肃兰州730070 [2]兰州交通大学机器人研究所,甘肃兰州730070 [3]大连理工大学工业装备结构分析国家重点实验室,辽宁大连116023

出　　处：《中南大学学报(自然科学版)》2024年第12期4452-4461,共10页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(61663020,12175032,12102082,12275044,12211530449);国防基础科研计划项目(JCKY2022407C009);大连理工大学工业装备结构分析国家重点实验室开放课题资助项目(ZG22119);甘肃省科技重大专项-工业领域(24ZDGA014)。

摘　　要：针对胸鳍运动参数与仿生机器鱼俯仰运动之间的关系不够明确的问题,基于计算流体力学(CFD)数值模拟机器鱼在水中的俯仰运动,对俯仰运动步态行为进行分析。建立机器鱼模型和三维胸鳍模型,设定机器鱼胸鳍运动规律为“椭圆型”,运用最小二乘法对绕Y轴的转角与胸鳍攻角之间的关系进行拟合,得到绕Y轴的转角关于胸鳍攻角和时间的非线性映射关系,分析机器鱼在俯仰运动过程中的运动性能、流场涡结构等,最后,采用实验室仿生机器鱼对仿真结果进行验证。研究结果表明:胸鳍攻角的绝对值越大,机器鱼做俯仰运动的幅度越大;在给定的胸鳍攻角下,绕Y轴的转角关于胸鳍攻角与时间呈二次函数关系;胸鳍在拍动时,胸鳍前后两侧和上下两侧都存在压力差,为鱼体提供推力和升力,支持机器鱼上浮和下潜。仿真结果具有准确性和可靠性。In order to solve the problem that the relationship between pectoral fin motion parameters and the pitching motion of bionic robot fish is not clear enough,the pitching motion of robot fish in water was numerically simulated based on computational fluid dynamics(CFD)methods,and the gait behavior of pitching motion was analyzed.The robot fish model and the three-dimensional pectoral fin model were established,the pectoral fin motion law of the robot fish was set as"elliptical type",and the relationship between the rotation angle around the y-axis and the pectoral fin angle of attack was fitted by using the least squares method,and the nonlinear mapping relationship between the rotation angle around the Y-axis on the pectoral fin angle of attack and time was obtained.Finally,the simulation results were verified by the laboratory bionic robot fish.The results show that the greater the absolute value of the pectoral fin angle of attack,the greater the amplitude of the robotic fish's pitching movement.At a given pectoral fin angle of attack,the angle of rotation about the Y-axis is a quadratic function with respect to the pectoral fin angle of attack and time.When the pectoral fin is flapping,there is a pressure difference between the front and back sides of the pectoral fin and the upper and lower sides,which provides thrust and lift for the fish body,and supports the robot fish to float and dive.The simulation results are accurate and reliable.

关 键 词：仿生机器鱼 俯仰运动 数值模拟 协同推进 胸鳍攻角 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]