多长鳍组合波动推进水下航行器设计和测试

Design and Testing of Underwater Vehicle Propelled by Multiple Undulating Fins

现有的波动鳍推进器还存在诸如推进速度低、机动能力不足等缺陷,为此提出多长鳍组合波动推进方式,并设计制作水下航行器原理样机。航行器分为前后两段,每段两侧均布置独立驱动、控制的长鳍,且前段可相对后段在90°范围内旋转。通过长鳍的对称波动,可抑制横向力作用,实现航行器稳定的前进和后退航行;通过长鳍的非对称波动,可实现航行器转向、浮潜等机动动作。试航试验表明:长鳍的波动参数(幅度、频率、波数)对航行器的推进速度有重要影响,航行器最高航速为0.39 BL/s,最小回转半径为0.1 BL。相比其他长鳍波动推进方式的航行器,多长鳍组合推进能够有效提高航行器的推进速度和机动能力,有助于提升航行器的整体性能。

Existing undulating fins propellers still have shortcomings such as low propulsion speed and insufficient maneuverability.A multi-fin combined undulating propulsion method is proposed,and a prototype of an underwater vehicle is designed and manufactured.The vehicle is divided into two sections:front and rear,with independently driven and controlled long fins arranged on both sides of each section,and the front section can rotate within 90°relative to the rear section.By the symmetrical undulations of the long fins,the lateral force is suppressed and the vehicle moves forward and backward stably;Using the asymmetrical undulations of the long fins,maneuvers such as steering and snorkeling is realized.The trial test shows that the undulating parameters(amplitude,frequency,wave number)of the long fins have an important impact on the propulsion speed of the vehicle.The maximum speed of the vehicle is 0.39 BL/s,and the minimum radius of gyration is 0.1 BL.Compared with other undulating fins propulsion vehicle,multi-fin combined undulating propulsion can effectively improve the propulsion speed and maneuverability of the vehicle,which is helpful to improve the overall performance of the underwater vehicle.