Stability Versus Maneuverability in Aquatic Locomotion1
Stability Versus Maneuverability in Aquatic Locomotion1
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DOI：
10.1093/icb/42.1.127
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发表时间：
2002-02
期刊：
影响因子：
--
通讯作者：
D. Weihs
中科院分区：
文献类型：
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作者：
D. Weihs
稳定性的字典定义是“牢固建立的，不易改变的”，这直接反映了水中运动中稳定性与可操纵性之间的矛盾。本文件讨论了这些对立要求所产生的若干问题。流体中运动物体的经典稳定性理论是基于潜艇和飞艇运动的发展。它们与大多数动物一样具有横向对称性。这使得能够将运动方程分成两组，每组3个。垂直（纵向）组包括轴向（纵荡）、法向（垂荡）和俯仰方向的运动，因此可以与包括偏航、横摇和侧滑运动的横向-水平面分开。这在过去已经被发现是有用的纵向稳定性研究的基础上滑行配置，但不适用于分析转向，快速启动和激烈的游泳，其中的横向对称的鱼体被打破的弯曲运动。本文还将研究这些非对称运动的稳定性与机动性权衡的某些方面。分析的条件下，分离的运动方程成垂直和水平平面是合理的，并定义的方程中使用的情况下，这种分离是不够准确的。
Abstract The dictionary definition of stability as “Firmly established, not easily to be changed” immediately indicates the conflict between stability and maneuverability in aquatic locomotion. The present paper addresses several issues resulting from these opposing requirements. Classical stability theory for bodies moving in fluids is based on developments in submarine and airship motions. These have lateral symmetry, in common with most animals. This enables the separation of the equations of motion into two sets of 3 each. The vertical (longitudinal) set, which includes motions in the axial (surge), normal (heave) and pitching directions, can thus be separated from the lateral-horizontal plane which includes yaw, roll and sideslip motions. This has been found useful in the past for longitudinal stability studies based on coasting configurations but is not applicable to the analysis of turning, fast starts and vigorous swimming, where the lateral symmetry of the fish body is broken by bending motions. The present paper will also examine some of the aspects of the stability vs. maneuverability tradeoff for these asymmetric motions. An analysis of the conditions under which the separation of equations of motions into vertical and horizontal planes is justified, and a definition of the equations to be used in cases where this separation is not accurate enough is presented.