水翼法推进机理及仿生系统研究
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摘要
水翼法推进是水下运载器新型推进方式的探索性研究工作。研究水翼法推进机理与性能,分析理解仿生系统水翼推进操纵方式,为仿生水下运载器研究和应用提供理论和技术支撑,具有重要研究意义和实用价值。
本文围绕水翼法推进动力学模型、柔性变形、水动力性能等水翼法推进机理进行研究,在此基础上研究了水翼法推进载体技术,并进行了实验研究。
在生物原型构造特征和运动特性研究基础上,分析了水翼法推进机理。基于拓像法提取水翼和蹼翼的生理参数,作为水翼法推进分析和仿生机构研究的依据。对多目视觉实时监测实验平台获取的图像信息进行分析,以水翼特征角的变化来描述水翼法推进状态,研究了水翼法推进操纵方式。理论分析和流体力学实验相结合,从水翼流体动力作用机制、相似准数和非定常流场作用等角度分析和解析水翼推进机理,研究了水翼法艏向转矩与机动性的关系。
研究水翼法推进动力学模型。建立了二自由度水翼运动数学模型,通过广义变换矩阵分析和水翼力学雅可比问题研究,得到水翼的运动学方程和动力学模型,在以微元法研究水翼运动水动力基础上,从流体阻尼简化和流体附加质量的角度分析水翼法推进本体水动力,由牛顿-欧拉方程导出水翼法推进本体动力学模型,为水翼法推进姿态控制提供参考,为水翼法推进控制器的研发提供仿真平台。
针对柔性水翼非性线变形问题,从变形量方程和模态分析两个方面进行水翼柔性变形分析。分析了弦向变形和展向变形,从柔性变形量和击水角度改变引发推进效率变化的角度论证了半骼式柔性水翼模型优于完骼式柔性水翼模型。
研究水翼法推进的水动力性能,通过水动力数值模拟和流场分析研究水翼运动参数影响规律和尺度律效应。以水翼法推进水动力分析为基础,数值模拟了运动参数变化下的水动力和艏向转矩,仿真实验结果表明了拍旋角速度、位旋角度和位旋旋转时间比对于直航推进的影响规律以及其差动对于艏向的控制作用。通过FLuent软件对水翼运动模型Navier—Stokes方程仿真求解分析了水翼运动非定常流场的演变和作用机理,验证了旋转环流和尾迹捕获等流体作用的理论分析,阐明了水翼展长和弦长对于水翼推进加速度分布和推进力均值的影响规律,为柔性水翼优化设计提供了依据。基于水动力性能分析,提出了一种水翼法仿生推进控制策略。
为验证水翼法推进机理分析的正确性及水翼法推进的可行性,研制了水翼法推进仿生系统并进行了实验研究。完成了实验载体的感知系统、控制系统、通讯系统和能源系统设计与调试,完成了实验载体的系统集成,并对载体微小型化进行了技术探讨。通过运动部件单肢实验,进行了拍旋和位旋电机角速度分布特性研究。通过系统静态实验、运动性能实验和柔性推进实验,对水翼法推进机理分析、动力学模型、水翼运动参数变化的影响规律以及水翼法推进的可行性等进行了实验验证。水翼运动实验验证了水翼法仿生推进控制策略的有效性,柔性水翼实验结果表明水翼柔性在高速阶段推进效果优于刚性水翼,验证了柔性水翼改善水翼法推进效能的仿真结论。
The hydrofoil propulsion is a exploratory research topic in the new pattern propulsion field for the underwater vehicle. Research on the hydrofoil propulsion principle and performance, analyzing and investigating the hydrofoil propulsion manipulation method of bionic system, then providing both theoretic and technical supports for the research and application of bionic underwater vehicle, have important research meaning and practical value.
This thesis primarily did the research on the hydrofoil propulsion principle, including the dynamic model of hydrofoil propulsion, flexible distortion, hydrodynamic performance and so on. Furthermore, based on the preceding referred results, the carrier technology of hydrofoil propulsion is investigated, and the theoretic conclusions are validated in the experiments.
Based on the research of biological prototype structural characteristics and movement characteristics, the hydrofoil propulsion principle was analyzed. Utilizing the rubbings photocopy method, hydrofoil and palmiped's physiological parameters were obtained, as the reference for hydrofoil propulsion analysis and bionic mechanism research. Analyzing the image information which was obtained by the multi-camera vision real-time testing experiment platform, the variation of characteristic angle of the hydrofoil was used to describe the hydrofoil propulsion states, and the hydrofoil propulsion manipulation method was investigated. Combining the theoretical analysis and hydrodynamic experiments, the hydrofoil propulsion principle was analyzed from the aspects of fluid dynamic action mechanism of hydrofoil, similarity criterion, unsteady flow field effect and so on, the relationship between yawing torque and maneuverability of hydrofoil propulsion was studied.
Research on the dynamics model of hydrofoil propulsion, the thesis established the two DOF mathematical model of hydrofoil motion; through the analysis of general transformation matrix and research on hydrofoil mechanics jacobian matrix, the kinematics equations and dynamic models of hydrofoil were obtained. Based on the research of hydrofoil motion hydrodynamics by use of differential element method, the hydrodynamics of hydrofoil propulsion body was analyzed from the aspects of fluid damping simplified and fluid additional mass. The dynamics model of hydrofoil propulsion body was educed from the Newton-Euler equations, providing a importance reference to the gesture control of hydrofoil propulsion and a simulation platform for the development of hydrofoil propulsion controller.
For the nonlinear distortion problem of flexible hydrofoil, the deformation analysis of hydrofoil flexible structure was made from the two aspects of deformation equations and modal analysis. The chord-wise distortion and span-wise distortion of flexible hydrofoil were analyzed; and it is demonstrated that the flexible hydrofoil model with half skeleton support was better than the one with entire skeleton support, from the aspects of flexible deformation amount and the change of propulsive efficiency which were caused by the variation of stroke-water angles.
Studiing on the hydrodynamic performance of hydrofoili propulsion, through the hydrodynamic numerical simulation and flow field analysis, the parameter influence law and scaling law effect of hydrofoil motion were investigated. Based on the hydrodynamics analysis of hydrofoil propulsion, the hydrodynamic forces and yawing moments under the change of movement parameters were numerically simulated. The results of simulation demonstrated that the stroke spin angular velocity, azimuth spin angular velocity and azimuth spin time ratio have an influence on the linear navigation propulsion, and the yawing control effect of their differential. By using of the Fluent software, the simulation solved the Navier-Stokes equations of hydrofoil motion model, analyzed unsteady flow field evolvement and its mechanism of hydrofoil motion, validated the theoretical analysis of fluid action such as eddy circumfluence and capture of wake current, illuminated the influence law that hydrofoil wingspan length and chord length had the effect on the acceleration distribution and propulsion mean value of hydrofoil propulsion, provided the important gists to optimization design of the flexible hydrofoil. Based on the hydrodynamic performance analysis, a control strategy of bionic hydrofoil propulsion was put forward.
For validating the correctness of the analysis of hydrofoil propulsion principle and the feasibility of hydrofoil propulsion, a bionic system of hydrofoil propulsion was developed and its experments was researched. The design and debug of the perceptual system, control system, communication system and energy system in the carrier were all accomplished, the system integration of experiment carrier was completed, and a technical discussion about the microminiaturization of it was also made. Through the single limb experiments of moving parts, the angular velocity distribution characteristics of both stroke spin and azimuth spin motors were investigated. From the aspects of static texts, the movement performance texts and the flexible propulsion experiments of the system, the analysis of mechanism of hydrofoil propulsion, the dynamic model, the influence law of parameter variation on hydrofoil motion, and the feasibility of hydrofoil propulsion were all verified by experiments. The hydrofoil motion experiments had verified the validity of control strategy of the bionic hydofoil propulsion, and the experimental results of flexible hydrofoil had showed that the propulsion effect of flexible hydrofoil during the high-speed phases was better than the rigid one, and validated the simulation conclusion that flexible hydrofoil could improve the efficiency of hydrofoil propulsion.
本文围绕水翼法推进动力学模型、柔性变形、水动力性能等水翼法推进机理进行研究,在此基础上研究了水翼法推进载体技术,并进行了实验研究。
在生物原型构造特征和运动特性研究基础上,分析了水翼法推进机理。基于拓像法提取水翼和蹼翼的生理参数,作为水翼法推进分析和仿生机构研究的依据。对多目视觉实时监测实验平台获取的图像信息进行分析,以水翼特征角的变化来描述水翼法推进状态,研究了水翼法推进操纵方式。理论分析和流体力学实验相结合,从水翼流体动力作用机制、相似准数和非定常流场作用等角度分析和解析水翼推进机理,研究了水翼法艏向转矩与机动性的关系。
研究水翼法推进动力学模型。建立了二自由度水翼运动数学模型,通过广义变换矩阵分析和水翼力学雅可比问题研究,得到水翼的运动学方程和动力学模型,在以微元法研究水翼运动水动力基础上,从流体阻尼简化和流体附加质量的角度分析水翼法推进本体水动力,由牛顿-欧拉方程导出水翼法推进本体动力学模型,为水翼法推进姿态控制提供参考,为水翼法推进控制器的研发提供仿真平台。
针对柔性水翼非性线变形问题,从变形量方程和模态分析两个方面进行水翼柔性变形分析。分析了弦向变形和展向变形,从柔性变形量和击水角度改变引发推进效率变化的角度论证了半骼式柔性水翼模型优于完骼式柔性水翼模型。
研究水翼法推进的水动力性能,通过水动力数值模拟和流场分析研究水翼运动参数影响规律和尺度律效应。以水翼法推进水动力分析为基础,数值模拟了运动参数变化下的水动力和艏向转矩,仿真实验结果表明了拍旋角速度、位旋角度和位旋旋转时间比对于直航推进的影响规律以及其差动对于艏向的控制作用。通过FLuent软件对水翼运动模型Navier—Stokes方程仿真求解分析了水翼运动非定常流场的演变和作用机理,验证了旋转环流和尾迹捕获等流体作用的理论分析,阐明了水翼展长和弦长对于水翼推进加速度分布和推进力均值的影响规律,为柔性水翼优化设计提供了依据。基于水动力性能分析,提出了一种水翼法仿生推进控制策略。
为验证水翼法推进机理分析的正确性及水翼法推进的可行性,研制了水翼法推进仿生系统并进行了实验研究。完成了实验载体的感知系统、控制系统、通讯系统和能源系统设计与调试,完成了实验载体的系统集成,并对载体微小型化进行了技术探讨。通过运动部件单肢实验,进行了拍旋和位旋电机角速度分布特性研究。通过系统静态实验、运动性能实验和柔性推进实验,对水翼法推进机理分析、动力学模型、水翼运动参数变化的影响规律以及水翼法推进的可行性等进行了实验验证。水翼运动实验验证了水翼法仿生推进控制策略的有效性,柔性水翼实验结果表明水翼柔性在高速阶段推进效果优于刚性水翼,验证了柔性水翼改善水翼法推进效能的仿真结论。
The hydrofoil propulsion is a exploratory research topic in the new pattern propulsion field for the underwater vehicle. Research on the hydrofoil propulsion principle and performance, analyzing and investigating the hydrofoil propulsion manipulation method of bionic system, then providing both theoretic and technical supports for the research and application of bionic underwater vehicle, have important research meaning and practical value.
This thesis primarily did the research on the hydrofoil propulsion principle, including the dynamic model of hydrofoil propulsion, flexible distortion, hydrodynamic performance and so on. Furthermore, based on the preceding referred results, the carrier technology of hydrofoil propulsion is investigated, and the theoretic conclusions are validated in the experiments.
Based on the research of biological prototype structural characteristics and movement characteristics, the hydrofoil propulsion principle was analyzed. Utilizing the rubbings photocopy method, hydrofoil and palmiped's physiological parameters were obtained, as the reference for hydrofoil propulsion analysis and bionic mechanism research. Analyzing the image information which was obtained by the multi-camera vision real-time testing experiment platform, the variation of characteristic angle of the hydrofoil was used to describe the hydrofoil propulsion states, and the hydrofoil propulsion manipulation method was investigated. Combining the theoretical analysis and hydrodynamic experiments, the hydrofoil propulsion principle was analyzed from the aspects of fluid dynamic action mechanism of hydrofoil, similarity criterion, unsteady flow field effect and so on, the relationship between yawing torque and maneuverability of hydrofoil propulsion was studied.
Research on the dynamics model of hydrofoil propulsion, the thesis established the two DOF mathematical model of hydrofoil motion; through the analysis of general transformation matrix and research on hydrofoil mechanics jacobian matrix, the kinematics equations and dynamic models of hydrofoil were obtained. Based on the research of hydrofoil motion hydrodynamics by use of differential element method, the hydrodynamics of hydrofoil propulsion body was analyzed from the aspects of fluid damping simplified and fluid additional mass. The dynamics model of hydrofoil propulsion body was educed from the Newton-Euler equations, providing a importance reference to the gesture control of hydrofoil propulsion and a simulation platform for the development of hydrofoil propulsion controller.
For the nonlinear distortion problem of flexible hydrofoil, the deformation analysis of hydrofoil flexible structure was made from the two aspects of deformation equations and modal analysis. The chord-wise distortion and span-wise distortion of flexible hydrofoil were analyzed; and it is demonstrated that the flexible hydrofoil model with half skeleton support was better than the one with entire skeleton support, from the aspects of flexible deformation amount and the change of propulsive efficiency which were caused by the variation of stroke-water angles.
Studiing on the hydrodynamic performance of hydrofoili propulsion, through the hydrodynamic numerical simulation and flow field analysis, the parameter influence law and scaling law effect of hydrofoil motion were investigated. Based on the hydrodynamics analysis of hydrofoil propulsion, the hydrodynamic forces and yawing moments under the change of movement parameters were numerically simulated. The results of simulation demonstrated that the stroke spin angular velocity, azimuth spin angular velocity and azimuth spin time ratio have an influence on the linear navigation propulsion, and the yawing control effect of their differential. By using of the Fluent software, the simulation solved the Navier-Stokes equations of hydrofoil motion model, analyzed unsteady flow field evolvement and its mechanism of hydrofoil motion, validated the theoretical analysis of fluid action such as eddy circumfluence and capture of wake current, illuminated the influence law that hydrofoil wingspan length and chord length had the effect on the acceleration distribution and propulsion mean value of hydrofoil propulsion, provided the important gists to optimization design of the flexible hydrofoil. Based on the hydrodynamic performance analysis, a control strategy of bionic hydrofoil propulsion was put forward.
For validating the correctness of the analysis of hydrofoil propulsion principle and the feasibility of hydrofoil propulsion, a bionic system of hydrofoil propulsion was developed and its experments was researched. The design and debug of the perceptual system, control system, communication system and energy system in the carrier were all accomplished, the system integration of experiment carrier was completed, and a technical discussion about the microminiaturization of it was also made. Through the single limb experiments of moving parts, the angular velocity distribution characteristics of both stroke spin and azimuth spin motors were investigated. From the aspects of static texts, the movement performance texts and the flexible propulsion experiments of the system, the analysis of mechanism of hydrofoil propulsion, the dynamic model, the influence law of parameter variation on hydrofoil motion, and the feasibility of hydrofoil propulsion were all verified by experiments. The hydrofoil motion experiments had verified the validity of control strategy of the bionic hydofoil propulsion, and the experimental results of flexible hydrofoil had showed that the propulsion effect of flexible hydrofoil during the high-speed phases was better than the rigid one, and validated the simulation conclusion that flexible hydrofoil could improve the efficiency of hydrofoil propulsion.
引文
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