仿生拍动翼AUV的转弯机动特性的研究

Study on Turning Maneuver Characteristics of Bionic Flapping Wing AUV

介绍了拍动翼AUV的结构与水下运动原理,分析了拍动翼横倾转弯时的受力过程,通过两侧拍动翼运动参数差异对横倾转弯进行控制,对AUV拍动翼运动参数进行设计。通过SOLIDWORKS对AUV进行物理建模,应用沉浸式边界法对三维拍动翼的水动力性能进行数值模拟,分别计算了单周期和多周期内横倾角、转弯半径随拍动翼两侧频率差的变化情况,得出拍动翼两侧频率差在3.5 Hz~0.45 Hz时最有利于AUV的转弯机动性能。

This paper introduces the structure and the principle of underwater motion of the flapping wing AUV,analyzes the force process during the transverse turning of the flapping wing,controls the transverse turning by the difference of the motion parameters of the flapping wing,and designs the motion parameters of the AUV.Through SOLIDWORKS physical modeling of AUV,an immersive boundary method is applied to simulate the hydrodynamic performance of 3D flapping wings,respectively calculated the variation of transverse inclination angle and turning radius with the frequency difference on both sides of the flapping wing in single and multiple cycles,it is concluded that the frequency difference between the 3.5 Hz and 0.45 Hz is the most beneficial to the AUV turning performance.