高机动自主水下航行器的仿生设计研究

Research on Bionic Design of Autonomous Underwater Vehicle with High Maneuverability

基于黄鳍金枪鱼的生理结构特征,以及鱼类的体干尾鳍推进模式(BCF)和中鳍对鳍推进模式(MPF),运用仿生工程学原理,开发出高机动自主水下航行器。通过柔性鱼体机构、推进器、沉浮水舱、控制系统和航行稳定性的仿生设计,航行器在水下实验中可自主完成高速巡航和多种机动方式水下作业。建立的水下试验平台可有效应用于仿生推进模式特征参数和推进性能内在关系的研究,同时为改善自主水下航行器的机动性能提供了新的设计思路。

Through principle of biomimetic engineering autonomous underwater vehicle(AUV)with high maneuverability has been developed,on the basis of yellow-fin tuna's physiological structure,body-caudal fin(BCF)and median-paired fin(MPF)of fish.In the underwater experiments AUV can fulfill high-speed cruise and manifold maneuverability movements,with the help of bionic designs including mechanism of flexible body,propeller,sink-float compartment,control system and movement stabilization.As platform of underwater test AUV may be applied to study internal relations between characteristic parameters of bionic propulsion and propulsive performance.And research methods of bionic engineering provide new design scheme for improvements of AUV's underwater maneuverability.