仿生机器鱼尾鳍推进效率的多参数优化研究
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摘要
仿生机器鱼作为一种高效、高机动的水下机器人,得到了科研人员的广泛关注,对BCF方式机器鱼尾鳍推进效率的研究是其中的重点方向。目前对尾鳍推进效率的优化研究,大多局限于尾鳍单一参数的优化,这与自然鱼类的游动状态相差甚远,因而不能真正达到推进效率最大化的目的。本文提出了尾鳍多参数优化方案,通过对尾鳍转动频率、摆动幅值、击水角度和摆动周期等参数的联合优化,得到一组特定游速下的参数值,结果表明本研究对象在游速0.6L m/s时(L为体长),数值计算推进效率为65.7%,仿真推进效率为64.3%的,均大于目前单一参数的优化结果,充分体现了尾鳍多参数配合的优越性。本文的研究,对提高仿生机器鱼的推进效率具有积极作用。
As a highly efficient and highly maneuverable underwater robot, fish-like robot has been widely concerned by researchers, research on the propulsion efficiency of caudal fin about the body and/or caudal fin(BCF) fish-like robot is one of the direction. The present research on the propulsion efficiency is limited to a single parameter optimization of the caudal fin, which is worse than the natural fish swimming, so it cannot achieve the purpose of maximizing the efficiency. Aiming at these problems, a method of multi parameters optimization of the caudal fin was put forward in this paper. And a set of parameters for a specific speed was presented by the joint optimization of rotation frequency, swing amplitude, angle of attack, and swing cycle. The simulation results show that when the velocity is 0.6L m/s(L is the body length), its propulsive efficiency is 64.3%, the numerical calculation propulsion efficiency is 65.7%, which illustrates that the superiority of the caudal fin with multiple matching parameters. The research has a positive effect on improving the propulsive efficiency of a fish-like robot.
As a highly efficient and highly maneuverable underwater robot, fish-like robot has been widely concerned by researchers, research on the propulsion efficiency of caudal fin about the body and/or caudal fin(BCF) fish-like robot is one of the direction. The present research on the propulsion efficiency is limited to a single parameter optimization of the caudal fin, which is worse than the natural fish swimming, so it cannot achieve the purpose of maximizing the efficiency. Aiming at these problems, a method of multi parameters optimization of the caudal fin was put forward in this paper. And a set of parameters for a specific speed was presented by the joint optimization of rotation frequency, swing amplitude, angle of attack, and swing cycle. The simulation results show that when the velocity is 0.6L m/s(L is the body length), its propulsive efficiency is 64.3%, the numerical calculation propulsion efficiency is 65.7%, which illustrates that the superiority of the caudal fin with multiple matching parameters. The research has a positive effect on improving the propulsive efficiency of a fish-like robot.
引文
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[9] 高荣康.基于鲨鱼鳍的水平轴潮流能水轮机仿生叶片研究[D].青岛:中国海洋大学,2014.GAO Rong-kang.Study on Blade Optimization and Hydrodynamic Performance of Horizontal Axis Marine Current Turbine[D].Qingdao:Ocean University of China,2014.
[10] 陈裴.三维柔性尾鳍/胸鳍的推进性能研究[D].镇江:江苏科技大学,2008.CHEN Pei.Research on Propulsive Characteristics for Three-dimensional Caudal Fin and Pectoral Fin[D].Zhenjiang:Jiangsu University of Science and Technology,2008.
[2] Philuan N,Van phu D,Byung L.Dynamic modeling and experiment of a fish robot with a flexible tail fin[J].Journal of Bionic Engineering,2012,10 (2013):39-45.
[3] 张志刚,喻俊志,王硕,等.多关节仿鱼运动推进机构的设计与实现[J].中国造船,2005,46(1):22-28.ZHANG Zhi-gang,YU Jun-zhi,WAN G Shuo,et al.Design and realization of fish-like machine propelled with multi links[J].Ship Building of China,2005,46(1):22-28.
[4] 王冉冉.仿鱼机器人稳态游动的水动力性能研究[D].哈尔滨:哈尔滨工业大学,2010.WANG Ran-ran.Research on Hydrodynamic Performance of Fishlike Robot Undergoing Steady State Swimming[D].Harbin:Harbin Institute of Technology,2010.
[5] 陈宏.仿生机器鱼巡游和机动的运动机理研究[D].合肥:中国科学技术大学,2006.CHEN Hong.Kinematic Mechanism Research on the Swimming and Maneuvering of Robot Fish[D].Hefei:University of Science and Technology of China,2006.
[6] Kancharala A K,Philen M K.Enhanced Hydrodynamic Performance of Flexible Fins Using Macro Fiber Compositeactuators[D].Blacksburg:Aerospace and Ocean Engineering,Virginia Polytechnic Institute and State University,2014:35-46.
[7] 杨亮.仿金枪鱼摆动尾鳍的水动力性能与推进机理研究[D].哈尔滨:哈尔滨工程大学,2009.YANG Liang.Research on Hydrodynamic Characteristics and Propulsive Mechanism of Oscillating Tuna-tail[D].Harbin:Harbin Institute of Technology,2009.
[8] 夏丹,陈维山,刘军考,等.基于 Kane 方法的仿鱼机器人波状游动的动力学建模[J].机械工程学报,2009,45(6):41-49.XIA Dan,CHEN Wei-shan,LIU Jun-kao,et al.Dynamic modeling of a fishlike robot with undulatory motion based on kane's method[J].Journal of Mechanical Engineering,2009,45(6):41-49.
[9] 高荣康.基于鲨鱼鳍的水平轴潮流能水轮机仿生叶片研究[D].青岛:中国海洋大学,2014.GAO Rong-kang.Study on Blade Optimization and Hydrodynamic Performance of Horizontal Axis Marine Current Turbine[D].Qingdao:Ocean University of China,2014.
[10] 陈裴.三维柔性尾鳍/胸鳍的推进性能研究[D].镇江:江苏科技大学,2008.CHEN Pei.Research on Propulsive Characteristics for Three-dimensional Caudal Fin and Pectoral Fin[D].Zhenjiang:Jiangsu University of Science and Technology,2008.
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