STUDY ON A UNDERWATER VEHICLE FOR LOW SPEED GOOD MANEUVERING

水下运载器通常有推进器和操纵器的组合。有时，为了观测海洋环境，需要进行低速精确机动。但是，目前的水下运载器不适合用于这一目的。本研究以鱿鱼或扁鱼所使用的波状侧鳍为研究对象，探讨其是否适用于低速水下航行器。鱼体由运动较小的阻力体和作为推进器的两个起伏的鳍组成。通过对鱿鱼的观察，该系统有望在低速区域改变运动方向，实现无垂直运动的快速机动。计算了具有两个起伏侧翼和阻力体的简单模型的层流绕流计算。在计算结果的基础上，讨论了船体和尾翼的流场和水动力老化特性。T…更多的这些结果为理解这种鱼用来推进自己的复杂流体力学提供了很好的信息。构建了两个模型，并进行了初步实验。进行了自由运行试验、水动力测量和三维体积PTV(3D Volumeter PTV)测量。进行了计算与实验的对比计算，验证了计算的有效性。最后，建立了新的模型并进行了实验。新模型具有产生任意鳍运动的伺服电机单元、伺服控制器和模型内部的运动控制计算机。所以，它没有支柱t，也没有大钢索。该模型有一根细电缆，连接到漂浮的无线通信单元到地面上的远程计算机，用于控制模型内部的微型计算机。该模型可以自由运行到任何方向，并可以更改绕任何轴的角度。首先，测量了进给速度和转弯运动的角速度。其次，进行了按规定路线行驶的自由行试验。其次，研究了实现6自由度运动的几种基本鳍运动。结果表明，这是非常有希望的。进行了推力测量。在这一结果中，显示了推进力的特点。利用测力结果通过求解运动方程对新模型的简单运动进行了预测。将计算结果与自由摆动试验结果进行了比较，取得了较好的一致性，并对双胸鳍模型的精确机动控制进行了研究。结果表明，结果是令人满意的。较少

Under water vehicles usually have the combination of propellers for their propulsion and maneuvering. Sometimes, the low-speed precise maneuvering is needed for observation of marine environment. But, the present under water vehicles are not suitable for that purpose. In this study, the undulating side fins that are used by a squid or a flat fish is investigated to examine that they are suitable for a low-speed under water vehicle. The fish-like body consists of the resistance body whose movement is small and two undulating fins as the propulsor. This system is expected to have the advantage for the change of movement direction and quick maneuvering without vertical motion in low speed region from the observation of a squid.. The laminar flow computation of the flow field around the simple model with two undulating side fins and resistance body was computed. The features of the flow field and hydrodynamic forces aging on the body and fins were discussed based on the computed results. T … More hese results provided good information for understanding the complex fluid mechanics that this type of fish uses to propel itself. The two models were constructed and used for preliminary experiments. The free-run tests, hydrodynamic force measurements and PTV(3D volumetric PTV) measurements for flow field were conducted. The computation between computations and experiments was carried out and the validity of the computation was shown.Finally, the new model was constructed and experiments were done. The new model has the servo motor units to produce any fin's motion, servo controller and the motion control computer inside the model. So, it does not have the strut t or the big cable. The model has one thin cable that is connected to the floating wireless communication units to the remote computer on the ground for control of microcomputer inside the model. The model can run freely to any direction and change the angle around any axis. Firstly, the advance speed and the angular velocity of turning motion were measured. Secondly, the free-run test to follow the prescribed route was conducted. Next some basic fin's motions that make the 6 degrees of freedom motion are investigated. The results show very promising. Thrust measurements are conducted. In this result, the characteristics of propulsive forces are shown. The simple motion of new model is predicted by the solving equations of motion using the results of force measurements. The results were compared with free-run test results and good agreement, to some extent, was obtained.The precise maneuvering control of the model with two pair of pectoral fins was also, studied. The results show promising results. Less