机器海豚近地面非对称腹背式推进俯仰抑制方法

Pitch Suppression Method of Robotic Dolphin Swimming Near Ground with Asymmetrical Ventral and Dorsal Propulsion Mode

针对机器海豚近地面游动的水深压力和地面效应影响,提出一种非对称腹背式推进的俯仰抑制方法。采用计算流体动力学(CFD)方法对机器海豚近地面非对称腹背式推进的游动过程进行数值模拟,研究了摆频比系数和摆幅比系数对水动力参数的影响关系。开展水动力试验对机器海豚样机在近地面游动的水动力学参数进行测试和对比分析,结果表明:近地面非对称腹背式推进模式具有增推效应,调节摆频比和摆幅比系数可有效抑制俯仰力矩,提高游动稳定性。研究结果为仿生水下机器人在复杂环境下的游动控制提供了参考。

For the effect of water depth pressure and ground effect on the robotic dolphin swimming near the ground,a pitch suppression method based on asymmetrical ventral and dorsal propulsion mode is proposed.The computational fluid dynamics(CFD)method is employed to simulate the near ground swimming of robotic dolphin with asymmetrical ventral and dorsal propulsion mode.The relationship between the coefficient of flapping frequency ratio,the coefficient of flapping amplitude ratio and the hydrodynamic parameters is studied.The hydrodynamic experiment is conducted and the hydrodynamic parameters of the robotic dolphin prototype swimming near the ground are tested and compared.The results show that the near ground asymmetric ventral and dorsal propulsion mode has the effect of increasing thrust.Adjusting the flapping frequency and amplitude ratio coefficient can effectively restrain the pitch torque and improve the swimming stability.The results provide some references for the swimming control of bionic underwater vehicle in complex environment.