柔性长鳍波动推进动力学分析

以基于柔性长鳍波动推进的仿生水下机器人试验模型为背景,研究了“尼罗河魔鬼”柔性长鳍的波动推进动力学原理．首先基于鳍条正弦摆动的假设,建立了鳍面波动曲面模型,然后根据抗体理论的基本思想及修正后的流体假设分析了柔性长鳍波动的推力产生机理,并获得其动力学模型,最后通过仿真手段,得到了试验模型的仿生柔性长鳍鳍面波动引起的流体动力及力矩公式,为仿生水下机器人的动力学分析和控制系统设计提供了理论依据．

DYNAMIC ANALYSIS OF UNDULATORY PROPULSION OF LONG FLEXIBLE FIN

With the test model of bionic underwater vehicle based on undulatory propulsion of long flexible fin as the background, the paper studies the undulatory propulsion dynamics of the long flexible fin of Gymnarchus Niloticus. Assuming that the fin bone vibrates according to a sine law, this paper establishes the mathematical model of undulatory curved surface of the long flexible fin. Then using the resistive theory and a modified hypothesis about fluid, the propulsion force generated by undulation of the long flexible fin is analyzed, and the dynamic model is obtained. Finally, with the aid of numerical simulation, the paper obtains the formula for hydrodynamic force and moment of the bionic long flexible fin of the test model caused by the fin undulatory movement. This formula provides a theoretical basis for dynamic analysis and control system design of bionic underwater vehicle.