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以自由游动为基础,研究和探讨了尾鳍柔性对仿金枪鱼水下机器人自主加速及巡游运动的影响.首先应用计算流体动力学(CFD)技术建立自主游动的计算模型,然后对不同柔性变形参数下的仿金枪鱼的运动和水动力性能进行模拟和分析.结果表明:当仿金枪鱼自主加速到稳定巡游时,其阻力和推力达到平衡;尾涡对推力有增加作用.弦向柔性变形相位角、变形位置、变形幅度及拱度对自主游动的巡游速度和尾鳍水动力性能有重要影响.使弦长前半部分也发生变形可以提高推进效率;当柔性变形落后横移运动π/2相位或取适当的变形幅度和拱度时,仿金枪鱼自主游动的推进效率取得极大值.
Based on free-swimming, this paper studies and studies the effect of caudal flexibility on the autonomous acceleration and cruising of imitation tuna underwater robots.Firstly, computational fluid dynamics (CFD) is used to establish autonomous swimming computational model, and then the effects of different flexible deformation The simulation and analysis on the movement and hydrodynamic performance of the imitation tuna under the parameters showed that when the imitation tuna self-accelerates to a stable parade, the resistance and thrust reach a balance and the wake increases the thrust force.The phase angle , The deformation position, the deformation amplitude and the crown degree have an important influence on the cruising speed of autopilots and the hydrodynamic performance of the caudal fin. Deformation of the first half of the chord also enhances the propulsion efficiency. When the flexible deformation traverses the π / 2 phase or Take appropriate deformation amplitude and camber, imitation tuna autonomous swimming propulsion efficiency achieved maximum.