仿生推进水翼协同技术

Cooperative Motion Technology of Bionic Propulsion Hydrofoils

研究基于水翼法推进的海龟水翼协同运动机理及其尾涡结构,发现水翼双旋协同运动可使水翼尾涡产生一条连续的聚集涡涡带,而双翼协同则可消除水翼尾涡聚集涡干扰和涡环脱泻频率跳跃现象.研究水翼法推进实验样机的水翼协同运动控制系统,提出水翼双旋协同分段式控制方法和双翼协同角速度在线调节方法,进行了样机水池实验.实验结果表明,分段式控制方法使协同值为0.5和1的水翼双旋协同运动分别比交替运动提高了0.45倍和0.82倍的样机直航速度,1.01倍和2.49倍的直航推进效率;角速度在线调节方法使两翼达到95.2%的运动重合度的同时,还使双翼协同推进相比于非协同推进时增加了43.6%的样机纵向推力.

The cooperative motion principle and trailing vortex structure of sea turtle hydrofoils are studied while turtle is adopting the hydrofoil propulsion method.A continuous aggregated vortex rope in hydrofoil trailing vortex will be caused by the cooperative motion of hydrofoils＇ stroke spin and azimuth spin,the aggregated vortex interference of hydrofoils＇ trailing vortex and the jumping phenomena of vortex rings shedding frequency can be eliminated by the cooperative motion of left and right hydrofoils.The control system of hydrofoil propulsion experimental prototype is developed for the hydrofoils cooperation motion.The subsection control method of hydrofoils＇ two spin cooperative motion and the angular velocity on-line adjustment method of double hydrofoils cooperative motion are proposed.And the pool experiments of experimental prototype are conducted.Results show that,under the subsection control,straight-line navigation speed of the hydrofoils＇ two spin cooperative motion with cooperation value 0.5 and 1 can be increased 0.45 times and 0.82 times respectively,while navigation efficiency is increased 1.01 times and 2.49 times,comparing with the two spin alternative motion.And the angular velocity on-line adjustment method not only makes the motion coincidence degree of double hydrofoils comes to 95.2%, but also boosts 43.6%longitudinal thrust for the prototype when double hydrofoils doing cooperative motion rather than non-cooperative motion.