| 仿胸鳍推进系统的水动力实验研究 |
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| 引用本文： | 王兆立,苏玉民,王晓飞,于宪钊,秦再白.仿胸鳍推进系统的水动力实验研究[J].哈尔滨工业大学学报,2010,42(7):1141-1144. |
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| 作者姓名： | 王兆立 苏玉民 王晓飞 于宪钊 秦再白 |
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| 作者单位： | 哈尔滨工程大学水下智能机器人技术国防科技重点实验室;哈尔滨工程大学水下智能机器人技术国防科技重点实验室;哈尔滨工程大学水下智能机器人技术国防科技重点实验室;哈尔滨工程大学水下智能机器人技术国防科技重点实验室;哈尔滨工程大学水下智能机器人技术国防科技重点实验室 |
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| 基金项目： | 国家自然科学基金资助项目(50579007;50879014) |
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| 摘 要： | 为了研究仿生力学在非定常流动中的应用,针对刚性胸鳍建立了二自由度运动模型,设计了实现二自由度运动模式的仿胸鳍操纵系统的实验装置.胸鳍推进系统主体由两个伺服电机控制系统组成,能够产生限定范围内的各种预定的摇翼运动和前后拍翼运动的组合.研究耦合运动的相位差、摆动频率、滚转幅值、拍动幅值、滚转偏角、拍翼偏角等参数对胸鳍水动力性能的影响,得到各水动力系数在一个周期内随时间的变化趋势.实验结果为研发高机动仿生水下机器人奠定了技术基础.
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| 关 键 词： | 仿生推进系统 胸鳍 二自由度 水动力性能 |
Experimental study on the hydrodynamic performance analysis of a pectoral-fin propulsive system |
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| WANG Zhao-li,SU Yu-min,WANG Xiao-fei,YU Xian-zhao and QIN Zai-bai.Experimental study on the hydrodynamic performance analysis of a pectoral-fin propulsive system[J].Journal of Harbin Institute of Technology,2010,42(7):1141-1144. |
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| Authors: | WANG Zhao-li SU Yu-min WANG Xiao-fei YU Xian-zhao and QIN Zai-bai |
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| Affiliation: | State Key Laboratory of Autonomous Underwater Vehicle,Harbin Engineering University,Harbin 150001,China;State Key Laboratory of Autonomous Underwater Vehicle,Harbin Engineering University,Harbin 150001,China;State Key Laboratory of Autonomous Underwater Vehicle,Harbin Engineering University,Harbin 150001,China;State Key Laboratory of Autonomous Underwater Vehicle,Harbin Engineering University,Harbin 150001,China;State Key Laboratory of Autonomous Underwater Vehicle,Harbin Engineering University,Harbin 150001,China |
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| Abstract: | In order to research the bionic mechanics in unsteady flow,a two-degree of freedom(DoF) motion model was established for a rigid pectoral fin,and the experimental device named imitating pectoral fin system for the propulsive system was developed.This fin propulsive system consists of two servomotors and can realize various demanded feathering lead-lag coupling motions within the system limitation.During the experiment,the effects of phase difference,oscillating frequency,oscillating amplitudes and angular bias on the hydrodynamic performances were studied.The hydrodynamic coefficients against time in a cycle were obtained and analyzed.The study provides a foundation for the development of small underwater bio-robot. |
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| Keywords: | bionic propulsion system pectoral fin 2-DoF hydrodynamic performance |
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