柔性长鳍仿生装置波动控制技术

以“尼罗河魔鬼”柔性长鳍的波动运动为背景,主要研究了柔性长鳍仿生装置的波动控制技术。首先研究了柔性长鳍推进波产生原理及其技术实现方案;其次,针对仿生装置的实际系统建立了鳍面运动学模型,从中提取了能够实现柔性长鳍多种波动模式的波动控制参数,并对柔性长鳍几种特定波动模式的实现方法进行了仿真研究;进一步,根据仿生装置的物理约束条件提出了控制参数的合法性判据;最后,研究了柔性长鳍仿生装置的波动控制策略及其控制流程。研究结果表明柔性长鳍仿生装置通过合理设置控制参数能够模拟仿生对象的多种波动运动模式,并实现推进波的多参数控制,能够满足柔性长鳍多种波动参数下的非定常流体动力学测试的需要。

Undulation Control on the Bionic Device of Long Flexible Fin

This paper studies the undulation control on the bionic device of long flexible fin based on undulation movement generated by the long flexible fin of Gymnarchus niloticus.Firstly,the principle of forming propulsion wave and the realization scheme of long flexible fin were studied.Secondly,a kinematics model was established to describe the undulation surfaces of the bionic device,the undulation control parameters which can be used in realizing multiple undulation modes of bionic object were distilled,and the methods of realizing some given undulation modes of long flexible fin were studied by simulations.According to the physical constraints of the bionic device,the criteria to judge the validity of these parameters were also presented.Finally,the paper studies undulation control strategy and control-flow of the bionic device of long flexible fin.The research result indicates that the bionic device of long flexible fin can imitate multiple undulation modes of bionic object via setting control parameters properly,and can realize multi-parameter control of propulsion wave.So,it can satisfy the unsteady hydrodynamic measurement demands of the bionic device with multiple undulation parameters.