基于续航能力的仿生水下航行器设计及实验

文力; 梁建宏; 王田苗; 宋永生

基于续航能力的仿生水下航行器设计及实验

北京航空航天大学机械工程及自动化学院北京 100083

基金项目: 国家杰出青年科学基金支持项目(60525314)

详细信息

中图分类号: TP 24
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出版历程
- 收稿日期: 2007-06-29
- 网络出版日期: 2008-03-31

Design and experiment of a underwater vehicle based on capacity of voyage

School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083 , China

摘要

摘要: SPC3-UUV机器鱼是在北航SPC-2仿生机器鱼UUV平台基础上经过优化改进,为提高推进效率和续航力专门研制的水下仿生航行器实验平台.通过在泳池静水中对平台的摄像机测速观测实验和功率数据采集计算机的记录,得到SPC3-UUV速度-频率,功率-频率特性曲线,由航程估算,得到该平台在不同的拍动频率下续航时间以及估算航程,同时以平台速度和续航能力为评价原则选择了长航程实验的推进频率,范围定为1.5~1.6Hz,并在北戴河长航程实验中得到了验证.SPC-3 UUV航程达到22.761km,续航时间6.25h,平均航速1.03m/s.
- 仿生 /
- 推进 /
- 水下航行器
Abstract: The SPC-3 UUV prototype is an experimental platform which is especially designed to improve efficiency of propulsion and capacity of voyage based on the SPC-2 UUV robofish by Beijing University of Aeronautics and Astronautics. Based on the record of data collection computer and cameral which is used to measure the speed of SPC-3 UUV in the swimming pool, the speed-frequency and power-frequency curve were founded. After the estimating the capacity of voyage, the voyage time and voyage on condition of different frequency were calculated, the propulsion frequency could be selected according to the speed and voyage and range from 1.5Hz to 1.6Hz, and it had been testified in the long voyage experiment in Beidaihe. SPC-3 UUV achieved 22.761 kilometers, and its voyage time was 6.25 h, average speed was 1.03 m/s.
- bionics /
- propulsion /
- undersea vehicle

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参考文献(1)

[1] Triantafyllou M S, Barrett M S, Yue D S, et al. New paradigm of propulsion and maneuvering for marine vehicles [J]. Trans Soc Naval Architects Marine Eng, 1996, 104: 81-100 [2] Barrett D S. Drag reduction in fishlike locomotion [J]. Journal of Fluids Mechanics, 1999, 392: 183-212 [3] 梁建宏, 王田苗, 魏洪兴,等. 水下仿生机器鱼研究进展II ——小型实验机器鱼研制[J] .机器人, 2002 , 24 (3): 234-238 Liang Jianhong,Wang Tianmiao,Wei Hongxing, et al. Research and development of underwater robofish II—development of a small experimental robofish[J]. Robot,2002, 24(3): 234-238(in Chinese) [4] 梁建宏.水下航行体仿生机理研究 .北京:北京航空航天大学机械工程及自动化学院,2006 Liang Jianhong. Propulsive mechanism of bionic undersea vehicle . Beijing: School of Mechanical Engineering and Aatomation,Beijing University of Aeronautics and Astronautics, 2006(in Chinese)

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