多尾鳍协调推进模式刚/柔运动仿真对比分析

系统仿真学报 ›› 2016, Vol. 28 ›› Issue (1): 121-128.

多尾鳍协调推进模式刚/柔运动仿真对比分析

谢鸥^1,2, 李伯全¹, 颜钦²

1.江苏大学机械工程学院,镇江 212013;
2.苏州科技学院机械工程学院,苏州 215009

收稿日期:2014-09-12 修回日期:2014-11-04 发布日期:2020-07-02
作者简介:谢鸥(1983-),男,湖南醴陵,博士生,讲师,研究方向为仿生水下机器人、流体动力学仿真技术;李伯全(1956-),男,江苏宜兴,博士,博导,研究方向为机器人技术、智能控制理论。
基金资助:
国家自然科学基金(51305287); 江苏省自然科学基金(BK20130264)

Simulation Contrast Analysis on Rigid and Flexible Movements of Multi-fins Coordinated Propulsion Mode

Xie Ou^1,2, Li Boquan¹, Yan Qin²

1. School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China;
2. School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou 215009, China

Received:2014-09-12 Revised:2014-11-04 Published:2020-07-02

摘要/Abstract

摘要： 提出了一种新型的仿生水下混合推进模式,采用多尾鳍协调驱动方式融合了鱼类的波动推进模式和水母的射流推进模式,能够实现波动、射流、转弯、制动等机动动作。建立了刚性/柔性击水鳍运动学模型,着重利用计算流体动力学方法对刚性/柔性击水鳍的波动-射流推进运动进行了数值仿真,结果表明柔性击水鳍的动力特性和游动性能优于刚性击水鳍,为进一步研究多模式推进理论奠定了基础。

关键词: 多尾鳍, 刚性运动, 柔性运动, 波动推进, 射流推进

Abstract: A novel type of bionic underwater hybrid propulsion mode was proposed. By the means of the coordination control of the multi-fins, a propulsion mode combines the undulation propulsion of fish and the jet propulsion of jellyfish was developed, and was capable of achieving a serial of motions: undulating, jetting, turning, submerging, emerging and braking. The rigid and flexible water stabilizer kinematics model was established and the numerical simulation was performed for undulation and jet propulsion mode of the rigid and flexible water stabilizer by using a CFD method. The simulation results show that the dynamic characteristics and swimming performance of the flexible water stabilizer is better than the rigid water stabilizer. It provides the foundation for further research on the multi-mode propulsion theory.

Key words: multi-fins, rigid motion, flexible motion, undulation propulsion, jet propulsion

中图分类号:

TP391.9

谢鸥, 李伯全, 颜钦. 多尾鳍协调推进模式刚/柔运动仿真对比分析[J]. 系统仿真学报, 2016, 28(1): 121-128.

Xie Ou, Li Boquan, Yan Qin. Simulation Contrast Analysis on Rigid and Flexible Movements of Multi-fins Coordinated Propulsion Mode[J]. Journal of System Simulation, 2016, 28(1): 121-128.

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