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仿水黾高速水上运动机器人划水产生的半球涡特征及其推进特性分析 被引量:1
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作者 郑俊 张嘉钟 +2 位作者 于开平 王宝寿 陈玮琪 《船舶力学》 EI CSCD 北大核心 2018年第5期517-527,共11页
基于半球涡的理论模型考察了水黾产生的双极涡的几何特征以及动力学特征。分析表明半球涡模型关于双极涡内所含流体动量及动能的理论预测值与相应的实验测量值接近。进一步的计算揭示,同一个水黾在不同划水速度下产生的半球涡半径与水... 基于半球涡的理论模型考察了水黾产生的双极涡的几何特征以及动力学特征。分析表明半球涡模型关于双极涡内所含流体动量及动能的理论预测值与相应的实验测量值接近。进一步的计算揭示,同一个水黾在不同划水速度下产生的半球涡半径与水黾的第二关节的长度比值接近于常数0.85,而半球涡的移动速度与水黾速度的比值接近于常数0.056 9。基于动量定理给出了推进力的理论模型并揭示仿水黾机器人高速划水时电机所需的力矩以及功率的计算式。文中结果可用于仿水黾高速水上行走机器人的流体动力设计及动力学预测。 展开更多
关键词 水黾 半球涡 半径 推进力
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Mechanisms for Oscillations in Volume of Single Spherical Bubble Due to Sound Excitation in Water
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作者 REN Sheng zhang jia-zhong LI Kai-Lun 《Chinese Physics Letters》 SCIE CAS CSCD 2012年第2期41-43,共3页
Mechanisms for the evolution of a single spherical bubble subjected to sound excitation in water are studied from the viewpoint of nonlinear dynamics.First,the shooting method is combined with a Poincaré map to o... Mechanisms for the evolution of a single spherical bubble subjected to sound excitation in water are studied from the viewpoint of nonlinear dynamics.First,the shooting method is combined with a Poincaré map to obtain the fixed point for the case of forced oscillation in volume.Then,the stabilities are judged by Floquet theory and the bifurcation theorem.Moreover,the transitions of bubble oscillation in volume due to sound excitation in water are explained from the viewpoint of nonlinear dynamics in detail.The results show that with an increase in sound frequency,the period-1 oscillation becomes unstable,and oscillation behaves in a double-periodic manner,then a quasi-periodic manner,and finally chaotically.Additionally,with an increase of the amplitude of the sound pressure,the bubble eventually oscillates with chaos via a series of period-doubling bifurcations. 展开更多
关键词 OSCILLATION BUBBLE EXCITATION
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