仿生乌贼推进器及其流体动力仿真和实验研究
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摘要
水下生物经过亿万年的进化,具备了高超的游泳技巧及游动效率,乌贼便是其中的运动佼佼者。随着机械、材料、控制理论等学科的发展,模仿乌贼等水中生物游动研制仿生水下机器人成为可能。本文即以乌贼为主要研究对象,探讨其生物形态、生理结构及运动特征,并在此基础上研制形状记忆合金(Shape Memory Alloy,简称SMA)丝驱动的仿生乌贼推进器,通过测试实验和计算流体力学(Computational Fluid Dynamics,简称CFD)仿真等手段对其流体动力进行研究分析。一方面有助于理解乌贼的游动机理,另一方面为仿生乌贼机器人的研究提供部件和理论基础。
涡环是一种常见的流体现象,在水下生物推进中起着重要的能量传输作用,本文分析了水下生物多种推进模式中的涡环形成机制及其对游动效率的影响。乌贼是采用水平鳍和喷水复合推进的水中生物,能根据不同的条件采取不同的游动模式,具有强大的涡环产生和控制能力,集快速性、机动性、有效性于一身。乌贼的流线型身体是其能够实现高速推进的重要原因,根据所解剖乌贼的身体参数,建立了乌贼的三维模型。分析了乌贼的游动策略,并用基本的流体力学理论对其受力情况进行分析。转弯控制是衡量运动机动性的重要指标,乌贼能采取多种转弯模式,着重对其基于阻力的柔性转弯控制面进行了分析,相比刚性舵有着更好的流体控制能力。
形状记忆合金丝作为一种新型驱动材料开始得到广泛应用,为了验证SMA丝作为驱动材料模拟乌贼或鱼类肌肉的可行性,在所搭建的SMA丝测试平台上对其性能进行了初步测试,其应变(接近4%)和应力(800 Mpa)都足以满足设计需求。大幅度的柔性弯曲是乌贼腕、鳍和鱼鳍的基本动作,基于其肌肉动作原理,分别研制了SMA丝驱动的仿生尾鳍推进器和仿生三角鳍推进器。对这两种推进器进行的开环控制动作实验表明:柔性化程度高,摆动幅度大,动作流畅,仿生效果好,无噪声。在所研制的测试平台上对其动作中的非定常推进力进行了实验测量,其中,仿生尾鳍推进器的最大瞬时推进力可达15.8 mN,仿生三角鳍推进器的最大瞬时推进力可达102.5 mN。得出了非定常推进力随着弯曲动作的变化规律,并探讨了摆动角度,摆动频率以及形状尺寸对推进力的影响。
同实验测试一样,CFD仿真也是研究生物游动机理的有效手段。首先利用CFD仿真建立静态模型分别对乌贼的身体形态及其柔性转弯控制面进行了分析;其次基于所拍摄的仿生尾鳍推进器和仿生三角鳍推进器的运动规律建立了近似运动模型,利用动网格技术分别对其柔性动作过程进行二维和三维仿真。仿真中得出了其动作过程中非定常力的变化情况,并探讨了摆动角度和摆动频率对推进力的影响,仿真结果与推进力测试实验吻合良好。其中,在对仿生尾鳍推进器摆动的二维CFD仿真中,得出了与真实鱼尾鳍摆动后同样的涡环现象,并对所产生涡环的涡动力进行了定量分析。斯特鲁哈尔数(Strouhal number简称St)是表征流体非定常效应的重要参数,对鱼类来说,0.2≤St≤0.3时可以实现最优推进,仿真中以背景流替代尾鳍的前进速度,模拟出了斯特鲁哈尔数对涡流尾迹的影响,发现0.2≤St≤0.3时的尾鳍摆动尾迹是一种介于阻力尾迹和推进涡环之间的中间状态。为了进一步验证数值模拟出的可视化流场,搭建了基于改性聚四氟乙烯微粉(PTFE)的液面流场显示系统。在该系统上对仿生尾鳍推进器摆动后的涡环形成过程进行了可视化研究,研究表明该系统能够较为准确的反映流场状态,为研究流场形态提供了实验平台。
乌贼的快速推进的动力源泉还在于其强有力的喷水,为此研制了SMA丝驱动的仿生乌贼脉冲喷射推进器并对其推进性能进行了实验测试。实验探究了驱动参数以及喷口直径对推进力的影响。随后建立了类似的喷水模型并对其喷水过程进行了CFD仿真,仿真中着重显示了其喷水后的涡环形成过程,分析了涡环形成数(L/D)对喷水尾迹的影响,并对推进力的变化情况进行了探讨。实验和仿真的结果验证了乌贼喷射推进中的涡环利用机制及喷水策略。
综上所述,本文基于仿生乌贼推进器所完成的仿真与测试,为仿生乌贼机器人的研究提供了理论和实验平台。
After millions years of evolution, aquatic animals possess superb swimming skills and incredible efficiency, squid is the outstanding kind. With the development of machinery, materials and control theory, development of bionic underwater robot imitating aquatic animals as squid becomes possible. Squid is the main research object, including their biological morphology, physiology structure and movement characteristics. Bionic squid underwater propulsors actuated by shape memory alloy (SMA) wires are investigated. Experimental testing and computational fluid dynamics simulations are use to study its hydrodynamic performance. The research not only helps to understand the mechanism of swimming squid, but also can provide components and theoretical basis for bionic squid underwater robots.
Vortex ring is a common phenomenon which plays an important role in aquatic animal propulsion. Aquatic animals have several propulsive modes. Vortex formation mechanism and its effect on swimming efficiency are analyzed. Squid possess composite propulsive modes including level fin and jetting. It can adopt different swimming modes according to different conditions, with a strong ability to generate and control vortex ring. It has many merits: high speed, good maneuverability and high efficiency. One reason why squid can achieve high-speed is perfect streamlined body. Three-dimensional squid model was established according to the anatomy of the physical parameters of squid. Squid's swimming strategy and its hydrodynamics are comprehensively analyzed. Turning control is a important measure to scale mobility and squid possess several turning patterns. Its flexible turning control surface based drag is detailed analyzed, which has better performance comparing with rigid steering.
As a new actuator material, SMA wires begin to be widely used. In order to verify the feasibility of using SMA wires to simulate squid or fish muscles, SMA wires is initially tested on a performance testing platform. The strain (close to 4%) and stress (800 Mpa) are sufficient to meet the design requirements. Flexible bending with large amplitude is basic movement for fins in fish or squid. Based on their muscle action principles, a caudal fin propulsor and a triangular pectoral fin actuated by SMA wires are investigated. The open-loop control experiments on these two propulsors show that they have merits: high degree of flexibility, smooth action with large amplitude and zero noise. Then the unsteady propulsive forces of the propulsors are measured. The maximum instantaneous thrust for caudal fin propulsor is up to 15.8 mN, and 102.5 mN for the pectoral fin. The unsteady thrust variation with bending angle is obtained, and the impact of bending angle, frequency, shape and size on propulsive performance is researched.
As the experimental testing, CFD simulation is another effective mean to study the mechanism of biological swimming. Firstly, CFD simulations are used to verify the perfect body shape of squid and their ascendant flexible turning control surface. Secondly, approximate kinematics models are set up based on the action experiment on the caudal fin propulsor and trigonal fin propulsor. Dynamic mesh technique is used to simulate the movement of the propulsor in 2D and 3D respectively. Though the simulation, the change character of unsteady force and the impact of bending parameters on average thrust force are received. The simulation results accord with the experimental results well. The phenomenon of vortex ring is found in the 2D simulation of caudal fin, just similar with live fish. Quantitative analysis is carried out on the vortex ring. Strouhal number (St) characterizes the unsteady effect of fluid. Fish can achieve most effective propulsion when 0.2≤St≤0.3. In simulation, the background flow is used to replace the forward movement of the caudal fin. The effect of St on the vortex wake is simulated. The wake presents intermediate state between drag wake and thrust wake when 0.2≤St≤0.3. To further verify the the visual flow field generated by numerical simulation, a flow level visualization system is built based on modified PTFE powder. A visual research on vortex ring formation process generated by tail propulsor is carried out on the system, which can provide accurate flow field.
The power source of rapid swimming squid is jetting water. A bionic squid pulse jet propulsor actuated by SMA wires is investigated and experimentally tested. The experiments explore the impact of the amplitude of bionic mantle, action speed and nozzle diameter on propulsive performance. .Then a similar jetting model is established and simulated by CFD. The simulation focuses on the formation process of vortex ring jet from the mantle. The impact of the vortex formation number (L/D) on jetting wake and the change character of thrust force are analyzed. The results verify vortex ring mechanism and jetting strategies in squid propulsion.
In summary, the experimental testing and simulation on the bionic squid propulsor provide effective theoretical and experimental research platform.
涡环是一种常见的流体现象,在水下生物推进中起着重要的能量传输作用,本文分析了水下生物多种推进模式中的涡环形成机制及其对游动效率的影响。乌贼是采用水平鳍和喷水复合推进的水中生物,能根据不同的条件采取不同的游动模式,具有强大的涡环产生和控制能力,集快速性、机动性、有效性于一身。乌贼的流线型身体是其能够实现高速推进的重要原因,根据所解剖乌贼的身体参数,建立了乌贼的三维模型。分析了乌贼的游动策略,并用基本的流体力学理论对其受力情况进行分析。转弯控制是衡量运动机动性的重要指标,乌贼能采取多种转弯模式,着重对其基于阻力的柔性转弯控制面进行了分析,相比刚性舵有着更好的流体控制能力。
形状记忆合金丝作为一种新型驱动材料开始得到广泛应用,为了验证SMA丝作为驱动材料模拟乌贼或鱼类肌肉的可行性,在所搭建的SMA丝测试平台上对其性能进行了初步测试,其应变(接近4%)和应力(800 Mpa)都足以满足设计需求。大幅度的柔性弯曲是乌贼腕、鳍和鱼鳍的基本动作,基于其肌肉动作原理,分别研制了SMA丝驱动的仿生尾鳍推进器和仿生三角鳍推进器。对这两种推进器进行的开环控制动作实验表明:柔性化程度高,摆动幅度大,动作流畅,仿生效果好,无噪声。在所研制的测试平台上对其动作中的非定常推进力进行了实验测量,其中,仿生尾鳍推进器的最大瞬时推进力可达15.8 mN,仿生三角鳍推进器的最大瞬时推进力可达102.5 mN。得出了非定常推进力随着弯曲动作的变化规律,并探讨了摆动角度,摆动频率以及形状尺寸对推进力的影响。
同实验测试一样,CFD仿真也是研究生物游动机理的有效手段。首先利用CFD仿真建立静态模型分别对乌贼的身体形态及其柔性转弯控制面进行了分析;其次基于所拍摄的仿生尾鳍推进器和仿生三角鳍推进器的运动规律建立了近似运动模型,利用动网格技术分别对其柔性动作过程进行二维和三维仿真。仿真中得出了其动作过程中非定常力的变化情况,并探讨了摆动角度和摆动频率对推进力的影响,仿真结果与推进力测试实验吻合良好。其中,在对仿生尾鳍推进器摆动的二维CFD仿真中,得出了与真实鱼尾鳍摆动后同样的涡环现象,并对所产生涡环的涡动力进行了定量分析。斯特鲁哈尔数(Strouhal number简称St)是表征流体非定常效应的重要参数,对鱼类来说,0.2≤St≤0.3时可以实现最优推进,仿真中以背景流替代尾鳍的前进速度,模拟出了斯特鲁哈尔数对涡流尾迹的影响,发现0.2≤St≤0.3时的尾鳍摆动尾迹是一种介于阻力尾迹和推进涡环之间的中间状态。为了进一步验证数值模拟出的可视化流场,搭建了基于改性聚四氟乙烯微粉(PTFE)的液面流场显示系统。在该系统上对仿生尾鳍推进器摆动后的涡环形成过程进行了可视化研究,研究表明该系统能够较为准确的反映流场状态,为研究流场形态提供了实验平台。
乌贼的快速推进的动力源泉还在于其强有力的喷水,为此研制了SMA丝驱动的仿生乌贼脉冲喷射推进器并对其推进性能进行了实验测试。实验探究了驱动参数以及喷口直径对推进力的影响。随后建立了类似的喷水模型并对其喷水过程进行了CFD仿真,仿真中着重显示了其喷水后的涡环形成过程,分析了涡环形成数(L/D)对喷水尾迹的影响,并对推进力的变化情况进行了探讨。实验和仿真的结果验证了乌贼喷射推进中的涡环利用机制及喷水策略。
综上所述,本文基于仿生乌贼推进器所完成的仿真与测试,为仿生乌贼机器人的研究提供了理论和实验平台。
After millions years of evolution, aquatic animals possess superb swimming skills and incredible efficiency, squid is the outstanding kind. With the development of machinery, materials and control theory, development of bionic underwater robot imitating aquatic animals as squid becomes possible. Squid is the main research object, including their biological morphology, physiology structure and movement characteristics. Bionic squid underwater propulsors actuated by shape memory alloy (SMA) wires are investigated. Experimental testing and computational fluid dynamics simulations are use to study its hydrodynamic performance. The research not only helps to understand the mechanism of swimming squid, but also can provide components and theoretical basis for bionic squid underwater robots.
Vortex ring is a common phenomenon which plays an important role in aquatic animal propulsion. Aquatic animals have several propulsive modes. Vortex formation mechanism and its effect on swimming efficiency are analyzed. Squid possess composite propulsive modes including level fin and jetting. It can adopt different swimming modes according to different conditions, with a strong ability to generate and control vortex ring. It has many merits: high speed, good maneuverability and high efficiency. One reason why squid can achieve high-speed is perfect streamlined body. Three-dimensional squid model was established according to the anatomy of the physical parameters of squid. Squid's swimming strategy and its hydrodynamics are comprehensively analyzed. Turning control is a important measure to scale mobility and squid possess several turning patterns. Its flexible turning control surface based drag is detailed analyzed, which has better performance comparing with rigid steering.
As a new actuator material, SMA wires begin to be widely used. In order to verify the feasibility of using SMA wires to simulate squid or fish muscles, SMA wires is initially tested on a performance testing platform. The strain (close to 4%) and stress (800 Mpa) are sufficient to meet the design requirements. Flexible bending with large amplitude is basic movement for fins in fish or squid. Based on their muscle action principles, a caudal fin propulsor and a triangular pectoral fin actuated by SMA wires are investigated. The open-loop control experiments on these two propulsors show that they have merits: high degree of flexibility, smooth action with large amplitude and zero noise. Then the unsteady propulsive forces of the propulsors are measured. The maximum instantaneous thrust for caudal fin propulsor is up to 15.8 mN, and 102.5 mN for the pectoral fin. The unsteady thrust variation with bending angle is obtained, and the impact of bending angle, frequency, shape and size on propulsive performance is researched.
As the experimental testing, CFD simulation is another effective mean to study the mechanism of biological swimming. Firstly, CFD simulations are used to verify the perfect body shape of squid and their ascendant flexible turning control surface. Secondly, approximate kinematics models are set up based on the action experiment on the caudal fin propulsor and trigonal fin propulsor. Dynamic mesh technique is used to simulate the movement of the propulsor in 2D and 3D respectively. Though the simulation, the change character of unsteady force and the impact of bending parameters on average thrust force are received. The simulation results accord with the experimental results well. The phenomenon of vortex ring is found in the 2D simulation of caudal fin, just similar with live fish. Quantitative analysis is carried out on the vortex ring. Strouhal number (St) characterizes the unsteady effect of fluid. Fish can achieve most effective propulsion when 0.2≤St≤0.3. In simulation, the background flow is used to replace the forward movement of the caudal fin. The effect of St on the vortex wake is simulated. The wake presents intermediate state between drag wake and thrust wake when 0.2≤St≤0.3. To further verify the the visual flow field generated by numerical simulation, a flow level visualization system is built based on modified PTFE powder. A visual research on vortex ring formation process generated by tail propulsor is carried out on the system, which can provide accurate flow field.
The power source of rapid swimming squid is jetting water. A bionic squid pulse jet propulsor actuated by SMA wires is investigated and experimentally tested. The experiments explore the impact of the amplitude of bionic mantle, action speed and nozzle diameter on propulsive performance. .Then a similar jetting model is established and simulated by CFD. The simulation focuses on the formation process of vortex ring jet from the mantle. The impact of the vortex formation number (L/D) on jetting wake and the change character of thrust force are analyzed. The results verify vortex ring mechanism and jetting strategies in squid propulsion.
In summary, the experimental testing and simulation on the bionic squid propulsor provide effective theoretical and experimental research platform.
引文
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