HAISHEN is a long-ranged and highly maneuverable AUV which has two operating modes： glider mode and flapping-foil propulsion mode. As part of the vehicle development, a three-dimensional mathematical model of the con...HAISHEN is a long-ranged and highly maneuverable AUV which has two operating modes： glider mode and flapping-foil propulsion mode. As part of the vehicle development, a three-dimensional mathematical model of the conceptual vehicle was developed on the assumption that HAISHEN has a rigid body with two independently controlled oscillating hydrofoils. A flapping-foil model was developed based on the work done by Georgiades et al. （2009）. Effect of controllable hydrofoils on the vehicle stable motion performance was studied theoretically. Finally, a dynamics simulation of the vehicle in both operating modes is created in this paper. The simulation demonstrates that： （1） in the glider mode, owing to the independent control of the pitch angle of each hydrofoil, HAISHEN travels faster and more efficiently and has a smaller turning radius than conventional fix-winged gliders; （2） in the flapping-foil propulsion mode, HAISHEN has a high maneuverability with a turning radius smaller than 15 m and a forward motion velocity about 1.8 m/s; （3） the vehicle is stable under all expected operating conditions.展开更多
The vortex formation and organization are the key to understand the intrinsic mechanism in flying and swimming in nature. The vortex wake of dual-flapping foils is numerically investigated using the immersed boundary ...The vortex formation and organization are the key to understand the intrinsic mechanism in flying and swimming in nature. The vortex wake of dual-flapping foils is numerically investigated using the immersed boundary method. Beside the deflection of the reversed von-Kármán vortex street, an interesting phenomenon, the deflection of the von-Kármán vortex street, is observed behind the dual-flapping foils. The deflected direction is not according to the initial direction of biplane’s flapping motion. And the deflection angle is related to the difference between upward and downward deflecting velocities.展开更多
A numerical investigation on the power extraction performance of a semi-activated flapping foil in gusty flow is conducted by using the commercial software FLUENT. The foil is forced to pitch around the axis at one-th...A numerical investigation on the power extraction performance of a semi-activated flapping foil in gusty flow is conducted by using the commercial software FLUENT. The foil is forced to pitch around the axis at one-third chord and heave in the vertical direction due to the period lift force. Different from previous work with uniform flow, an unsteady flow with cosinusoidal velocity profile is considered in this work. At a Reynolds number of 1100, the influences of the mechanical parameters （spring constant and damping coefficient）, the amplitude and frequency of the pitching motion, the amplitude of the gust fluctuation and the phase difference between the pitching motion and the gusty flow on the power extraction performance are systematically investigated. Compared with the case of uniform flow, the capability energy harvesting of the system is enhanced by the introduction of the gusty flow. For a given pitching amplitude and frequency, the power extraction efficiency increases with the gust fluctuation amplitude. Moreover, with an optimal phase difference between pitch and gust （φ = 180°）, the efficiency can be further enhanced due to the generation of high lift force.展开更多
The water environment of swimming fish in nature is always complex which includes various vortices and fluctuations. In order to study the interaction between the fish and its surrounding complex flow, the physical mo...The water environment of swimming fish in nature is always complex which includes various vortices and fluctuations. In order to study the interaction between the fish and its surrounding complex flow, the physical model with a D-section cylinder placed at the front of a flapping foil is employed. The D-section cylinder is used to produce vortices to contact with the foil as well as the vortices shed from the foil. According to the experimental work of Gopalkrishnan et al., there are three interaction modes between vortices shed from the cylinder and the flapping foil, which are expanding wake, destructive interaction and constructive interaction. Here in this article, three of those typical cases are picked up to reproduce the vortices interaction modes with the modified immersed boundary methods and their hydrodynamic performances are studied further. Results show that, for expanding wake mode and destructive interaction mode, the incoming vortices contact with the foil strongly, inducing relative low pressure domains at the leading-edge of the foil and enlarging the thrust of foils. For constructive mode, the foil slalom between the shed vortices from the D-section cylinder do not contact with them obviously and the foil＇s thrust is only enlarged a little.展开更多
The use of biomimetic tandem flapping foils for ships and underwater vehicles is considered as a unique and interesting concept in the area of marine propulsion. The flapping wings can be used as a thrust producing, s...The use of biomimetic tandem flapping foils for ships and underwater vehicles is considered as a unique and interesting concept in the area of marine propulsion. The flapping wings can be used as a thrust producing, stabilizer and control devices which has both propulsion and maneuvering applications for marine vehicles. In the present study, the hydrodynamic per- formance of a pair of flexible flapping foils resembling penguin flippers is studied. A ship model of 3 m in length is fitted with a pair of counter flapping foils at its bottom mid-ship region. Model tests are carried out in a towing tank to estimate the propulsive performance of flapping foils in bollard and self propulsion modes. The same tests are performed in a numerical environment using a Computational Fluid Dynamics （CFD） software. The numerical and experimental results show reasonably good agreement in both bollard pull and self propulsion trials. The numerical studies are carried out on flexible flapping hydrofoil in unsteady conditions using moving unstructured grids. The efficiency and force coefficients of the flexible flapping foils are determined and presented as a function of Strouhal number.展开更多
The flapping foil based on bionics is a sort of simplified models which imitate the motion of wings or fins of fish or birds. In this paper, a universal kinematic model with three degrees of freedom is adopted and the...The flapping foil based on bionics is a sort of simplified models which imitate the motion of wings or fins of fish or birds. In this paper, a universal kinematic model with three degrees of freedom is adopted and the motion parallel to the flow direction is considered. The force coefficients, the torque coefficient, and the flow field characteristics are extracted and analyzed. Then the propulsive efficiency is calculated. The influence of the motion parameters on the hydrodynamic performance of the bionic foil is studied. The results show that the motion parameters play important roles in the hydrodynamic performance of the flapping foil. To validate the reliability of the numerical method used in this paper, an experiment platform is designed and verification experiments are carried out. Through the comparison, it is found that the numerical results compare well with the experimental results, to show that the adopted numerical method is reliable. The results of this paper provide a theoretical reference for the design of underwater vehicles based on the flapping propulsion.展开更多
文摘HAISHEN is a long-ranged and highly maneuverable AUV which has two operating modes： glider mode and flapping-foil propulsion mode. As part of the vehicle development, a three-dimensional mathematical model of the conceptual vehicle was developed on the assumption that HAISHEN has a rigid body with two independently controlled oscillating hydrofoils. A flapping-foil model was developed based on the work done by Georgiades et al. （2009）. Effect of controllable hydrofoils on the vehicle stable motion performance was studied theoretically. Finally, a dynamics simulation of the vehicle in both operating modes is created in this paper. The simulation demonstrates that： （1） in the glider mode, owing to the independent control of the pitch angle of each hydrofoil, HAISHEN travels faster and more efficiently and has a smaller turning radius than conventional fix-winged gliders; （2） in the flapping-foil propulsion mode, HAISHEN has a high maneuverability with a turning radius smaller than 15 m and a forward motion velocity about 1.8 m/s; （3） the vehicle is stable under all expected operating conditions.
文摘The vortex formation and organization are the key to understand the intrinsic mechanism in flying and swimming in nature. The vortex wake of dual-flapping foils is numerically investigated using the immersed boundary method. Beside the deflection of the reversed von-Kármán vortex street, an interesting phenomenon, the deflection of the von-Kármán vortex street, is observed behind the dual-flapping foils. The deflected direction is not according to the initial direction of biplane’s flapping motion. And the deflection angle is related to the difference between upward and downward deflecting velocities.
文摘A numerical investigation on the power extraction performance of a semi-activated flapping foil in gusty flow is conducted by using the commercial software FLUENT. The foil is forced to pitch around the axis at one-third chord and heave in the vertical direction due to the period lift force. Different from previous work with uniform flow, an unsteady flow with cosinusoidal velocity profile is considered in this work. At a Reynolds number of 1100, the influences of the mechanical parameters （spring constant and damping coefficient）, the amplitude and frequency of the pitching motion, the amplitude of the gust fluctuation and the phase difference between the pitching motion and the gusty flow on the power extraction performance are systematically investigated. Compared with the case of uniform flow, the capability energy harvesting of the system is enhanced by the introduction of the gusty flow. For a given pitching amplitude and frequency, the power extraction efficiency increases with the gust fluctuation amplitude. Moreover, with an optimal phase difference between pitch and gust （φ = 180°）, the efficiency can be further enhanced due to the generation of high lift force.
基金Project supported by the National Natural Science Foundation of China(Grant No.10872181)the National Key Basic Research Program of China(973 Program,Grant No.2009CB724303)the Fundamental Research Funds for the Central Universities(Grant No.2010QNA4015)
文摘The water environment of swimming fish in nature is always complex which includes various vortices and fluctuations. In order to study the interaction between the fish and its surrounding complex flow, the physical model with a D-section cylinder placed at the front of a flapping foil is employed. The D-section cylinder is used to produce vortices to contact with the foil as well as the vortices shed from the foil. According to the experimental work of Gopalkrishnan et al., there are three interaction modes between vortices shed from the cylinder and the flapping foil, which are expanding wake, destructive interaction and constructive interaction. Here in this article, three of those typical cases are picked up to reproduce the vortices interaction modes with the modified immersed boundary methods and their hydrodynamic performances are studied further. Results show that, for expanding wake mode and destructive interaction mode, the incoming vortices contact with the foil strongly, inducing relative low pressure domains at the leading-edge of the foil and enlarging the thrust of foils. For constructive mode, the foil slalom between the shed vortices from the D-section cylinder do not contact with them obviously and the foil＇s thrust is only enlarged a little.
文摘The use of biomimetic tandem flapping foils for ships and underwater vehicles is considered as a unique and interesting concept in the area of marine propulsion. The flapping wings can be used as a thrust producing, stabilizer and control devices which has both propulsion and maneuvering applications for marine vehicles. In the present study, the hydrodynamic per- formance of a pair of flexible flapping foils resembling penguin flippers is studied. A ship model of 3 m in length is fitted with a pair of counter flapping foils at its bottom mid-ship region. Model tests are carried out in a towing tank to estimate the propulsive performance of flapping foils in bollard and self propulsion modes. The same tests are performed in a numerical environment using a Computational Fluid Dynamics （CFD） software. The numerical and experimental results show reasonably good agreement in both bollard pull and self propulsion trials. The numerical studies are carried out on flexible flapping hydrofoil in unsteady conditions using moving unstructured grids. The efficiency and force coefficients of the flexible flapping foils are determined and presented as a function of Strouhal number.
基金Project supported by the National Natural Science Foundation of China(Grant No.50905040)
文摘The flapping foil based on bionics is a sort of simplified models which imitate the motion of wings or fins of fish or birds. In this paper, a universal kinematic model with three degrees of freedom is adopted and the motion parallel to the flow direction is considered. The force coefficients, the torque coefficient, and the flow field characteristics are extracted and analyzed. Then the propulsive efficiency is calculated. The influence of the motion parameters on the hydrodynamic performance of the bionic foil is studied. The results show that the motion parameters play important roles in the hydrodynamic performance of the flapping foil. To validate the reliability of the numerical method used in this paper, an experiment platform is designed and verification experiments are carried out. Through the comparison, it is found that the numerical results compare well with the experimental results, to show that the adopted numerical method is reliable. The results of this paper provide a theoretical reference for the design of underwater vehicles based on the flapping propulsion.
