STUDY ON A UNDERWATER VEHICLE FOR LOW SPEED GOOD MANEUVERING

水下航行器通常具有用于其推进和操纵的螺旋桨的组合。海洋环境观测有时需要进行低速精确机动。但是，目前的水下车辆不适合于该目的。在这项研究中，波浪形的侧鳍，使用的鱿鱼或扁平的鱼进行了调查，以检查他们是适合于低速水下车辆。仿鱼体由运动量很小的阻力体和作为推进器的两个波浪形鳍组成。通过对一条鱿鱼的观测，表明该系统具有在低速区改变运动方向、快速机动、不作垂直运动的优点。对带有两个起伏侧肋和阻力体的简单模型绕流场进行了层流计算。根据计算结果，讨论了流场的特点和作用在机身和尾翼上的水动力。不 ...更多信息 这些结果提供了很好的信息，了解复杂的流体力学，这种类型的鱼使用，以推动自己。这两个模型被构建并用于初步实验。进行了自由流试验、水动力测量和流场PTV（3D容积PTV）测量。最后，建立了新的模型，并进行了实验验证。该模型内置伺服电机单元、伺服控制器和运动控制计算机。所以，它没有支柱和大缆绳。该模型有一根细电缆连接到浮动无线通信单元到地面上的远程计算机，用于控制模型内的微计算机。该模型可以自由地运行到任何方向，并改变围绕任何轴的角度。首先，测量了机器人的前进速度和转弯运动的角速度。其次，进行了遵循规定路线的自由跑测试。其次，研究了构成六自由度运动的鳍的基本运动。结果显示非常有希望。进行推力测量。在这个结果中，显示了推进力的特性。利用测力结果求解运动方程，预测了新模型的简单运动。将计算结果与自由航行试验结果进行了比较，在一定程度上取得了较好的一致性，并研究了双胸鳍模型的精确机动控制问题。结果显示出有希望的结果。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