仿生推进器的水动力性能理论预报与实验研究
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摘要
鱼类和海洋哺乳动物已越来越引起人们的关注，因为，它们具有良好的推进和操纵性能，它们能够远距离高速行进，在狭窄的空间灵活运动，迅速地加速和灵活地减速等。仿生工作首先是寻求发现一些机理，正是这些机理使某些生物拥有惊人的游动技能。经过学者多年的努力已经清楚地知道了海洋鱼类，特别是大型高速游动鱼类的高效推进的机理。利用月牙尾的动态过失速特性产生高升力，获得高推力；利用尾涡控制使尾迹呈现反卡门涡街，获得最佳推进效率。
模仿金枪鱼的摆尾推进方式，制作了单尾仿生机器鱼，实验测量了机器鱼的航行速度、阻力和系泊状态时尾鳍摆动产生的推力，同时，进一步认识了鱼类高速高效推进的机理，也为建立尾鳍运动的数学模型和理论预报仿鱼尾鳍的水动力性能奠定了试验基础。
用边界元法计算尾柄与尾鳍以不同相位角摆动时尾鳍的平均推力和平均推进效率，计算尾柄与尾鳍同相位摆动时尾鳍摆动频率与推力的关系。计算得到的结果为研究开发新型仿生推进器的提供了理论依据。结合单尾鳍摆动推进存在的机器鱼的摇艏问题，设计出仿生双尾推进器，并将其应用于小水线面双体船，制作了仿生双尾推进的实验平台，在水池中进行了试验研究。结果表明，双尾推进作为一种新型的仿生推进器，不仅解决了单尾机器鱼游动时的鱼体晃动问题，而且还具有优良的推进和操纵性能。同时，采用计算流体力学软件FLUENT计算摆动尾鳍非定常流动的流场特性，结合单尾鳍和双尾鳍的不同流场特性定性分析了双尾鳍在摆动过程中的相互干扰问题。
In recent years, fish and ocean mammal have drawn people's attention for their nicer propulsion and maneuvering performance. They have abilities of navigating in high speed with long distance, agilely maneuvering in limited space, and accelerating or decelerating rapidly. The work is to find some mechanics which make some creatures have excellent swimming skill. From the hard work we have known the mechanics of high speed of some fish. The fish can use their characteristics of tails to get the high thrust force. Also they can control their wake to produce the anti-Karman vortex street which is the reason of optimal propulsion.
Simulating the tail swing manner of Tunny, a robotic fish model is made. Speed, resistance and thrust at mooring condition of the robotic fish are tested by experiment. the mechanics of highly active propulsion is also known which gives the theoretical basis of fin and its mathematical model.
Numerical model of robotic fish propulsion's tail-fin locomotion is established, and tail-fin's mean thrust performance curve and mean efficiency curve is calculated with boundary method when the tail-fin and tail-handle swing with different phase angle, and the correlative curve between swing frequency and amplitude of and tail-fin thrust when the tail-fin and tail-handle swing with the same phase angle. The results of calculation are used as the basis of research of new propulsion. To avoid the swing of fore body of robotic fish with single tail-fin, a kind of robotic fish with double tail-fin is designed and is used in SWATH. The experimental platform of double tail-fin propulsion is produced and the experimental research of the double tail-fin propulsion is made in a pond. As a result, the double tail-fin propulsion as a new type propulsion not only can solve the shakable problem of the single tail-fin robotic fish when it's swimming, but also has excellent propulsive efficiency and maneuverability. The CFD software FLUENT was used to calculate the unsteady flow characteristic of the swinging tail-fin. According to the different flow characteristic between the single tail-fin and the double tail-fin, the writer analyzes the mutual interferential problem during the swing process of the double tail-fin and the calculated result is coincident with the experimental research.
模仿金枪鱼的摆尾推进方式，制作了单尾仿生机器鱼，实验测量了机器鱼的航行速度、阻力和系泊状态时尾鳍摆动产生的推力，同时，进一步认识了鱼类高速高效推进的机理，也为建立尾鳍运动的数学模型和理论预报仿鱼尾鳍的水动力性能奠定了试验基础。
用边界元法计算尾柄与尾鳍以不同相位角摆动时尾鳍的平均推力和平均推进效率，计算尾柄与尾鳍同相位摆动时尾鳍摆动频率与推力的关系。计算得到的结果为研究开发新型仿生推进器的提供了理论依据。结合单尾鳍摆动推进存在的机器鱼的摇艏问题，设计出仿生双尾推进器，并将其应用于小水线面双体船，制作了仿生双尾推进的实验平台，在水池中进行了试验研究。结果表明，双尾推进作为一种新型的仿生推进器，不仅解决了单尾机器鱼游动时的鱼体晃动问题，而且还具有优良的推进和操纵性能。同时，采用计算流体力学软件FLUENT计算摆动尾鳍非定常流动的流场特性，结合单尾鳍和双尾鳍的不同流场特性定性分析了双尾鳍在摆动过程中的相互干扰问题。
In recent years, fish and ocean mammal have drawn people's attention for their nicer propulsion and maneuvering performance. They have abilities of navigating in high speed with long distance, agilely maneuvering in limited space, and accelerating or decelerating rapidly. The work is to find some mechanics which make some creatures have excellent swimming skill. From the hard work we have known the mechanics of high speed of some fish. The fish can use their characteristics of tails to get the high thrust force. Also they can control their wake to produce the anti-Karman vortex street which is the reason of optimal propulsion.
Simulating the tail swing manner of Tunny, a robotic fish model is made. Speed, resistance and thrust at mooring condition of the robotic fish are tested by experiment. the mechanics of highly active propulsion is also known which gives the theoretical basis of fin and its mathematical model.
Numerical model of robotic fish propulsion's tail-fin locomotion is established, and tail-fin's mean thrust performance curve and mean efficiency curve is calculated with boundary method when the tail-fin and tail-handle swing with different phase angle, and the correlative curve between swing frequency and amplitude of and tail-fin thrust when the tail-fin and tail-handle swing with the same phase angle. The results of calculation are used as the basis of research of new propulsion. To avoid the swing of fore body of robotic fish with single tail-fin, a kind of robotic fish with double tail-fin is designed and is used in SWATH. The experimental platform of double tail-fin propulsion is produced and the experimental research of the double tail-fin propulsion is made in a pond. As a result, the double tail-fin propulsion as a new type propulsion not only can solve the shakable problem of the single tail-fin robotic fish when it's swimming, but also has excellent propulsive efficiency and maneuverability. The CFD software FLUENT was used to calculate the unsteady flow characteristic of the swinging tail-fin. According to the different flow characteristic between the single tail-fin and the double tail-fin, the writer analyzes the mutual interferential problem during the swing process of the double tail-fin and the calculated result is coincident with the experimental research.
引文
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[2] 梁建宏，王田苗，魏洪兴．仿生机器鱼技术研究进展及关键问题探讨[J]．机器人技术与应用．2003，24(3)：14-19页
[3] J.Gray. Studies in animal locomotion[J]. Ⅵ The propulsive powers the dolphin. J. Exp. Biol. 1936,13:192-199P
[4] 童秉纲，陈夕云．关于飞行和游动的生物力学研究[J]．力学进展．2004，34(1)：1-8页
[5] 水下仿生学译文集[M]．哈尔滨工程大学，2000
[6] 黄胜．关于仿鱼游动水中推进器的研究的现状与展望[R]．大阪府立大学共同研究报告．2001
[7] 童秉纲，庄礼贤．描述鱼类波状游动的流体力学模型及其应用[J]．自然杂志．1998，20(1)：1-7页
[8] G. Taylor. Analysis of the swimming of long narrow animals[J]. Proc. R. Soc. Lond. A. 1952,214:158-183P
[9] J. Lighthill. Note on the swimming of slender fish[J]. Fluid Mech. 1960, 9:305-317P
[10] T. Y. Wu. Swimming of a waving plate[J]. Fluid Mech. 1961, 10:321-344P
[11] J. Ligh}hill. Hydromechanics of aquatic animal propulsion[J]. Ann.Rev. Fluid Mech. 1969, 1:413-446P
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[13] J. Lhighthill. Large-amplitude elongated-body theory of fish locomotion[J]. Proc. Roy. Soc. Lond. B. 1971, 179: 125-138P
[14] J.Lighthill, R.Blake. Biofluiddynamics of balistiform and gymnotiform locomotion parks 1-4[J]. Fluid Mech. 1990, 212: 183-207P; 213: 1-28P
[15] M. G. Chopra. Hydromechanics of lunate-tail swimming propulsion[J]. Fluid Mech. 1974, 64:375-391P
[16] M. G. Chopra. Large-amplitude lungte-tail theory of fish locomotion[J]. Fluid Mech. 1976, 74:161-182P
[17] M. G. Chopra, T. Kambe. Hydromechanics of lunate-tail swimming propulsion. Part 2[J]. Fluid Mech. 1977, 79:49-69P
[18] Pengfei Liu. A Time-domain panel method for oscillating propulsors with both chordwise and spanwise flexibility[J]. PhD Thesis. Memorial University of Newfoundland, Canada. 1997
[19] RLiu, N.Bose. Hydrodynamic characteristics of a lunate shape oscillating propulsor[J]. Ocean Eng. 1999, 26:519-529P
[20] RLiu, N.Bose. Propulsive performance of three naturally occurring oscillating propeller planforms[J]. Ocean Eng. 20(1): 57-75P
[21] W. C. Sandberg, R.Ramamurti.Unsteady flow computations for oscillating fins: a status report[J]. Papers of 11th International symposium on UUS technology. Autonomous Undersea Systems Institute 1999:182-194P
[22] 童秉纲，庄礼贤，程健宇．鱼类波状摆动推进的流体力学研究[J]．力学与实践．1991，19(3)：17-26页
[23] 程健宇，庄礼贤，童秉纲．三维变幅波板的游动水动力学研究与进展[J]．1991增刊，1-11页
[24] 程健宇，庄礼贤，童秉纲．新月形尾鳍推进的流体力学分析[J]．力学学报．1992，24(4)：458-465页
[25] 苏玉民，黄胜，庞永杰，徐玉如，吴强．仿鱼尾潜器推进系统的水动力分 析[J]．海洋工程．2002，20(2)：54-59页
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