Numerical simulation based variable speed control strategy for bionic undulating fins
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摘要: 仿生波动鳍机器人具有独特的水动力性能。文中通过数值模拟的方式对波动鳍加、减速过程的水动力响应进行探究, 揭示了加、减速阶段推进力与控制频率的关系。结果表明, 在刚步入高频阶段时, 低频阶段产生的涡旋与新产生的涡旋融合在一起, 导致推力高于正常值, 可通过适当增大频率进行控制。而刚步入低频阶段时, 当频率降幅较小时, 涡旋来不及脱落, 产生长时间的不规则的较高推力, 可适当降低频率梯度以减小这种影响。当降幅过大时, 效果会明显减弱。这项研究将为波动鳍机器人的变速时的精确控制提供支持, 提高控制系统稳定性。Abstract: The bionic undulating fin robot has unique hydrodynamic properties. This paper investigates the hydrodynamics of the undulating fin during frequency change through numerical simulation, revealing the relationship between the propulsive force and the control frequency during the acceleration and deceleration phases. The results show that when just stepping into the high-frequency stage, the vortices generated in the low-frequency stage merge with the newly generated vortices, resulting in a higher-than-normal propulsive force, which can be controlled by appropriately increasing the frequency. When just stepping into the low-frequency phase, when the frequency drop is small, the vortices come off too late, producing a long period of irregular higher thrust, and the frequency gradient can be appropriately reduced to minimise this effect. This effect is significantly reduced when the drop is too large. This research will provide support for precise control of undulating fin robots when shifting speeds and improve control system stability.
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Key words:
- bionic undulating fins /
- numerical simulation /
- variable-speed propulsion /
- vortices
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图 11 加速前后波动鳍表面产生的涡旋变化
Figure 11. Vortex changes generated on the surface of the undulating fins before and after acceleration
图 12 减速阶段波动鳍产生的推进力变化曲线
Figure 12. Curves of change in propulsive force generated by undulating fins during deceleration phase
图 16 减速前后波动鳍表面产生的3D涡旋变化
Figure 16. 3D vortex changes generated on the surface of the undulating fins before and after deceleration
图 17 减速前后波动鳍表面产生的2D涡旋变化
Figure 17. 2D vortex changes generated on the surface of the undulating fins before and after deceleration
表 1 波动鳍的关键参数
Table 1. Key parameters of fluctuating fins
参数 数值 长度/L 1000 mm宽度/B 200 mm 最大摆角/θmax 90° 厚度/b 10 mm 相位差/φ 90° 摆幅/H 100 mm 波数/Wn 2 波长/λ 500 mm 频率/f 0.25 Hz~1 Hz 
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表 2 网格无关性验证
Table 2. Verification of grid-independence
网格尺寸/mm 鳍面网格 内流域网格 外流域网格 精细网格 5 50 100 中等网格 10 50 100 粗大网格 15 50 100
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表 3 方案分组情况
Table 3. Grouping of the programmes
组别 初始频率/Hz 目标频率/Hz 加速阶段A组 0.25 0.5 0.75 1.0 加速阶段B组 0.25 1.0 0.5 0.75 减速阶段 1.0 0.25 0.5 0.75
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