胸鳍拍动对机器鱼直线游动的作用机理研究

论文总字数：30859字

摘 要

1、绪 论 1

1.1 引言 1

1.2 鱼类推进模式分类及仿生推进器的特点 1

1.2.1 BCF模式 2

1.2.2 MPF模式 3

1.3鱼类胸鳍推进机理的研究现状 4

1.3.1胸鳍推进机理的理论研究 4

1.3.2胸鳍推进机理的实验研究 4

1.3.3胸鳍推进机理的数值研究 5

1.4仿鱼胸鳍机器人的国内外研究现状 6

1.4.1国外研究现状 6

1.4.2国内研究现状 7

1.5 本文的研究目的和主要研究内容 8

2、仿生机器鱼的数值求解过程 10

2.1 建模与仿真前处理 10

2.2 鲔科运动学模型 11

2.3 仿生鱼动力学 14

2.4 力学参数计算公式 15

2.5 数值求解方法与过程 17

3、胸鳍前后拍动对机器鱼直线游动机理研究 20

3.1 引言 20

3.2 胸鳍前后拍动的运动学 20

3.3鳍前后拍动对直线加速性能的影响 21

3.3.1拍动幅值对直线加速性能的影响 23

3.3.2拍动频率对直线加速性能的影响 24

3.4鳍前后拍动对直线制动性能的影响 25

3.4.1拍动频率对直线制动性能的影响 26

3.4.2拍动幅值对直线制动性能的影响 26

3.5本章小结 27

4、胸鳍上下拍动对机器鱼上升运动机理研究 28

4.1 引言 28

4.2 胸鳍上下拍动的运动学 28

4.3 上下拍动参数对上升性能的影响 28

4.3.1拍动幅值对上升性能的影响 29

4.3.2拍动频率对上升性能的影响 31

4.4 本章小结 31

5、胸鳍摇翼运动对机器鱼上升运动机理研究 33

5.1 引言 33

5.2 上升运动学 33

5.3来流速度对升潜速度的影响 33

5.4 不同攻角对升潜速度的影响 34

5.5本章小结 37

结 论 38

致 谢 39

参考文献 40

胸鳍拍动对机器鱼直线游动的作用机理研究

02009402 吉月婷

指导教师 夏 丹

摘 要：鱼类游动具有高速、高效、高机动性和低噪声等特点，将鱼类推进和操纵系统用于水下机器人，替代传统的桨一舵系统，有着十分重要的意义。目前水下仿生技术研究集中于尾鳍/鱼体推进，但在低速情况下，很多鱼类是利用胸鳍实现良好的动力定位和机动。

本文基于流体力学软件FLUENT软件的动网格技术，采用有限体积法，对三维金枪鱼模型进行数值仿真，研究了鲔科鱼类的胸鳍对其直线加速、制动和上升运动的作用机理。

本文通过改变运动学模型控制参数-胸鳍运动参数，进行游动仿真过程，得到游动过程中速度、功率和效率的数据，作图分析得出如下结论：

（1）胸鳍前后拍动对直线加速性能的影响：增加拍动幅值和拍动频率均可提高稳态游动速度，且增加较增加幅值的效果更显著，但都会增大功率消耗；胸鳍前后拍动对直线制动性能的影响：拍动幅值和拍动频率的增加均使制动时间减少，且增加比增加拍动幅值更能提高制动效果。（2）胸鳍上下拍动对上升性能的影响：增加上下拍动频率和增加频率均能使上升速度增加，但增大拍动幅值比增加上升效果更加明显。（3）胸鳍不同攻角对上升性能的影响：在研究范围内升潜速度总体趋势随攻角加大而增大。

机器鱼在加速时前后拍动幅值越大，向后拍动频率越大加速性能越好，在制动时拍动幅值越大，向前拍动频率越大制动性能越好。机器鱼实现上升时选用攻角上升比采用上下拍动效果更好。

关键词：机器鱼；数值模拟；胸鳍；直线；升潜

Straight swimming mechanism of pectoral fins flapping of fishlike robot

02009402 Yueting Ji

Supervised by Dan Xia

Abstract：The characteristics of fish swimming are fast,efficient,flexible and quiet.So it’s important to apply fish swimming mode to the underwater vehicle propelling system instead of the traditional propeller and rudder system.At present,there are many underwater bionic studies focused on body and/or caudal fin(BCF) locomotion.However,many fishes’ propulision systems perform well for both efficient cruising and high maneuverability at low swimming speed by using paired pectoral fins.

This paper uses finite volume method based on dynamic mesh technology of the CFD software named FLUENT, as the numerical simulation is based on , to study the mechanism of three-dimensional model in the process of straight-line acceleration swimming, deceleration and swimming up.

This paper makes the fish swimming simulations respectively by changing motion parameters of pectoral fins.Then get the data of velocity , efficiency and power , draw the data map and get the following conclusions:

(1) The swimming speed can be increased by increasing the amplitude of flapping front and back and angular velocity respectively, and the effect by increasing is more pronounced than that of the increase of the amplitude of flapping angle,but they can both increase power consumption; the braking time can be reduced by increasing the amplitude of flapping front and back and angular velocity respectively, and the effect by increasing is more pronounced than that of the increase of the amplitude of flapping angle .(2) The rising speed can be increased by increasing the amplitude of flapping up and down and angular velocity respectively, and the effect by increasing is more pronounced than that of the increase of the amplitude of flapping angle.(3) The effect of different angles of attack on swimming up:the speed of up is increased with increasing angle of attack in general.

The amplitude of flapping ahead and the angular velocity are greater,the acceleration performance is better. The amplitude of flapping backward and the angular velocity are greater,the deceleration performance is better.Robot fish can swim up in greater velocity by using 35 degree angle of attack than flapping up and down.

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