Motion Control and Propulsion Performance of Underwater Propulsion System by Using Traveling Wave Motion of Flexible Fins

柔性鳍行波运动水下推进系统的运动控制与推进性能

• 批准号: 15560222
• 负责人: KOBAYASHI Nobuyuki
• 金额: $ 2.05万
• 依托单位: Aoyama Gakuin University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2003
• 资助国家: 日本
• 起止时间: 2003 至 2004
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-15560222/
• 关键词: Waving Motion; Underwater Propulsion System; Fluid-Structure Interaction; Multi-Body Dynamics; Nonlinear System; Sliding Mode Control; Output Feedback

This report presents an experimental study of propulsion characteristics of an underwater propulsion mechanism by using traveling-wave motion of flexible fins. In the experiment, the flexible fins were attached at the side of an underwater vehicle, and the traveling-wave motion of the flexible plate was generated by a cam and follower mechanism. The effect of the wave number and frequency of the waving motion of the flexible fin on the propulsion characteristics was examined. As a result, following major things were obtained in this study.(1) The underwater propulsion mechanism can take both forward and backward motion by changing the direction of the traveling wave motion of the flexible fins.(2) The underwater propulsion mechanism can take smooth movement in water by the traveling wave motion with high wave number. On the other hand, the propulsion force becomes smaller with increasing wave number.(3) Propulsion force and swimming speed increase with increasing frequency of the traveling wave motion. Moreover, fluctuation of the propulsion force and swimming speed increase with increasing frequency of the traveling wave motion.(4) The underwater propulsion mechanism takes maximum swimming speed when the wave number is around 1.0.(5) The propulsion force and swimming speed decrease with increasing non-dimensional frequency, and fluctuation of the swimming speed takes constant value.(6) To realize the traveling-wave motion of flexible fins, the output feedback sliding mode controller to suppress the vibration and track the desired motion is presented and designed.

本文利用柔性鳍的行波运动对水下推进机构的推进特性进行了实验研究。在实验中，柔性鳍片附着在水下机器人的侧面，柔性板的行波运动由凸轮和从动件机构产生。研究了柔性翅片波浪运动的波数和频率对推进特性的影响。因此，在本研究中获得了以下主要内容。(1)水下推进机构通过改变柔性鳍的行波运动方向，实现向前和向后两种运动。(2)水下推进机构可以利用高波数的行波运动在水中进行平稳运动。另一方面，推进力随波数的增加而减小。(3)推进力和游动速度随行波运动频率的增加而增大。推进力和游泳速度的波动随行波频率的增加而增大。(4)水下推进机构在波数1.0左右时游动速度最大。(5)推进力和游动速度随无量纲频率的增加而减小，游动速度波动呈定值。(6)为实现柔性鳍片的行波运动，提出并设计了输出反馈滑模控制器来抑制振动并跟踪期望运动。

项目成果

柔らかいヒレの波動運動を用いた水中推進機構の開発と性能評価

利用软鳍波动的水下推进机构研制及性能评估

• 发表时间: 2004
• 期刊: 日本機械学会、機械力学・計測制御部門講演論文アブストラクト集 No.04-5
• 作者: 真田 洋平;渡辺 昌宏
• 通讯作者: 渡辺 昌宏

Dynamics and Stability of Spaghetti and Reverse Spaghetti Problem with Fluid force

流体力意大利面条及逆意大利面条问题的动力学与稳定性

• 发表时间: 2004
• 期刊: J.Multibody System Dynamics 11.2
• 作者: N.KOBAYASHI;M.WATANABE
• 通讯作者: M.WATANABE

Development and Performance Evaluation of Aquatic Propulsion Mechanism Using Waving-motion of Flexible Fin

利用柔性鳍波动运动的水下推进机构研制及性能评价

• 发表时间: 2004
• 期刊: Proceedings of Dynamics and Design Conference 2004 No.04-5
• 作者: Youhei Sanada;Masahiro Watanabe
• 通讯作者: Masahiro Watanabe