水翼法推进的仿生AUV研制及实验

为丰富水下推进方式,进行了海龟水翼法推进技术仿生及实验研究。基于生物原型运动机理和本构特性分析,研制了仿水翼运动机构、仿蹼翼运动机构和仿生水翼法推进AUV,并进行了仿生AUV水池转首性能测试实验等,验证了运动参数变化对AUV所受纵向力分量和平面转首力矩的影响。实验结果表明,水翼拍旋角速度ω1对于AUV转首速度的影响呈降加速度正比趋势;AUV样机双翼反向差动转首因增加了涡漩阻力,比单肢转首运动的效率提高约60%等,这些为仿生AUV运动控制策略研究提供依据。

Experimental Verification for the Application Feasibility of Buckingham Pi Theorem in Designing a Scaled Model of Flagellated Swimmer with Traditional Resistive Force Theory

The microstructure of bacterial is an important reference to design underwater swimmers. Applying Buckingham Pi Theorem is a possible method to build a scaled model based on a theoretical flagellum designed with traditional Resistive Force Theory. By making a scaled model, the forward velocity could be obtained to verify the application feasibility of Buckingham Pi Theorem in such designs. The optimal value of the model’s pitch angle can be calculated with the traditional RFT as well as the forward velocity. Comparing the experimental results with the results of theoretical calculations, it is found that the experimental and calculated results are consistent, which means Buckingham Pi Theorem works well in such design of underwater swimmer.

中央鳍/对鳍推进模式的仿生自主水下机器人发展现状综述

中央鳍/对鳍(MPF)推进模式和身体/尾鳍(BCF)推进模式是仿生自主水下机器人(AUV)最常见的两种推进模式,其中MPF推进模式具有BCF推进模式无法比拟的一些运动优势.本文首先在推进方式、运动速度、推进效率、机动性和游动稳定性等方面对这两种推进模式进行了分析比较,将MPF模式推进的仿生AUV分为多鳍拍动式、胸鳍扑翼滑翔式和长鳍波动式3种,并分别详细综述了这3种MPF模式推进的仿生AUV的国内外研究现状,最后对其游动性能、驱动方式选择、驱动器数量、推进鳍和本体外形设计等问题进行了分析和讨论,对MPF模式推进的仿生AUV研制所存在的问题进行了归纳总结,并对今后可进行的研究内容作了展望.