仿生多鳍协同波动推进机理及实验研究

Xanthichthys auromarginatus, a typtical representive of Balistidae fish, use the cooperative undulation of dorsal-and-anal fins as as their routine propulsive mode. This swimming mode has better performance in terms of higher effeciency, greater maneuverability and better low-speed stability. Inspiringly, the Balistidae's bilogical dual-fin mode adapts to not only cruising swimming in calm waters, but also slow swimming, turning manoeuvres and rapid acceleration from stationary in complex surroundings such as turbulent waters and seashore areas. Ocean exploiting and safeguarding the state's marine rights and interests need the next generation autonomous underwater vehicles (AUVs) with the capabilities of precise maneuvering and high performance propulsion. Bionic inspirations from Balistidae fish can help to complement disadvantages of the tranditional underwater vehicles. .Bionic morphology, swimming modes, locomotion characteristic and dorsal-and-anal cooperative undulation of Xanthichthys auromarginatus are investigated by theoretical and experimetnal approaches. This project would focus on the biological multi-fin cooperative undulations to uncover their mysteries of the kinematic characteristic and the propusive mechanisms. To be exact, our research mainly covers biological obsearvation and modeling on physiology, morphorlogy as well as and kinematics, multi-fin cooperative undulation mechanisms, and practical control stratages design and validation. This study is expected to provide biological inspirations for AUVs in precise maneuvering and high performance propulsion in low speed navigation. Moreover, theoretical and experimental achievements should better support the in-depth studies on flexibility, stability, autonomy, concealment and environment compatibility of underwater vehicles.

金边黄鳞鲀，俗称"炮弹鱼"，属于典型的鳞鲀科鱼类，游动主要依靠柔性背鳍和臀鳍协同波动推进。该推进方式集较高的推进效率、优良的机动性、较强的稳定性于一体，不仅适用于远洋航行，还具有低速下灵活机动、抗扰动能力强的特点，可适应于近海等复杂环境。紧贴海洋开发与权益维护的迫切需求，本项目针对精确机动高效推进型水下航行器的技术需求，采用仿生手段，从仿生结构、推进方式、运动特征、双鳍协同策略等方面来揭示金边黄鳞鲀高机动、低扰动、高效推进的运动特征和背臀鳍协同波动推进机理，并开展相应的实验研究。主要研究内容包括：仿生对象生理学和运动学实验观测与建模，鱼类双鳍协同波动推进机理分析，以及仿生多鳍协同波动推进控制策略及实证研究。本项目的研究结论对解决水下航行器低速下精确机动高效推进等关键问题具有重要作用，为未来水下航行器机动性、稳定性、自治性、隐蔽性以及环境相容性等性能提升提供理论指导和技术支撑。

揭示金边黄鳞鲀高机动、低扰动、高效推进的运动特征和背臀鳍协同波动推进机理，对解决水下航行器低速下精确机动高效推进等关键问题具有重要作用。项目探索研究了MPF鱼类双鳍协同波动推进以及仿鱼波动推进机构设计的相关机理与实现技术。主要研究内容和结果如下：.（1）仿生对象生理学和运动学实验观测与建模。建立了背鳍/背臀鳍波动推进研究的生物实验装置，进行仿生对象形态学和运动学观测，提取了仿生对象的形态学和运动学特征。分析了“尼罗河魔鬼”正向逆向游动中存在的背鳍波形不对称现象，“鸳鸯炮弹”背臀鳍的相位关系，揭示了其稳态巡游时背臀鳍波动相位随时间变化的一致性和协同性。在实验观测的基础上，根据实验样本的形态及运动规律，建立了背鳍/背臀鳍波动推进模式的运动学方程。.（2）鱼类双鳍协同波推进机理分析。探究了MPF鱼背鳍肌的内在作用机制和运动原理，揭示促使生物鳍条实现二维运动的根本原因，根据坐标转换方法建立任意时刻生物鳍条空间运动位置和姿态的数学模型，并对相应的数学模型进行仿真。.（3）仿生对象游动流场特性计算、流信息感知与表达。深入分析了仿生推进流场适应性过程，构建了水下仿生推进耦合动力学系统数值模拟平台。研究了外部流场和自身运动对仿生推进过程中的流场影响，建立了仿生推进流场感知及估计方法。.（4）设计了仿鱼鳍条二维运动系统。基于TRIZ原理设计了仿鱼鳍条二维运动机构，并对机构进行功能与性能仿真分析，搭建了仿生鳍条控制系统及实验平台并进行了实验测试。. 以上研究内容和结论对解决水下航行器低速下精确机动高效推进等关键问题具有重要作用，为未来水下航行器机动性、稳定性、自治性、隐蔽性以及环境相容性等性能提升提供理论指导和技术支撑。