【作者】 刘晓白；

【导师】 张铭钧；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2007， 硕士

【摘要】 仿生推进技术是水下推进技术研究领域的重要研究方向之一，它为研制低噪声、高性能的水下航行体提供了基础技术支撑。本论文“一种水下航行体的仿水翼法推进技术研究”，以海龟为仿生对象，进行了生物水翼法推进技术研究，目的在于开发新型的水下推进技术，丰富水下推进理论，并基于新型推进技术进行微小型水下航行体的载体技术研究。本论文主要进行了以下几个方面的工作：1、对海龟生物原型进行了大量的实地观测实验，研究了海龟身体各部分的体态特征、比例参数和海龟游动的运动特点，通过图像处理与分析，研究了海龟前肢的水翼法游动机理，提出了仿海龟水翼法推进的构想。2、设计了仿水翼法的水下推进装置，包括本体结构设计和硬件控制系统的设计等，并研制了其原理试验装置；对仿水翼法推进装置进行了运动学和动力学建模分析，建立了雅可比矩阵方程，为仿生推进控制提供依据：在Pro／E仿真环境下进行了仿水翼法推进装置的运动学仿真实验，为进一步优化推进装置提供参考。3、对仿水翼法推进装置的原理试验装置进行了水下实验，基本实现了仿海龟水翼法运动形式，验证了样机本体机械结构、密封方案和控制系统的可行性和可靠性。4、研制了仿海龟后肢的后肢平衡舵装置原理试验装置，并扩展设计了整个仿生海龟水下航行体，包括本体结构和总体控制方案的设计，提出了一种新型仿生水下航行体的载体设计方案。本论文对生物水翼法推进这种典型水中推进方式的运动机理进行了探讨，通过运动模型的建立与分析，设计了仿水翼法推进装置，试验验证了仿水翼法推进机理的可行性和仿生推进装置的可靠性，为进一步研究仿生海龟水下航行体提供了重要参考。更多还原

【Abstract】 The bionic underwater propulsion technology is one of the most important research directions in the underwater propulsion technology research field, and it brings forth the basical technical supports to develop the low noisy, high flexible underwater vehicle.This paper, of which the name is "Research on Bionic Turtle Hydrofoil Propulsion Technology of Autonomous Underwater Vehicle",using marine turtle as bionic target, researches on the halobios’ hydrofoil propulsion technology. In order to exploit new type of underwater propulsion technology, enrich underwater propulsion theory and research the carrier technology of new pattern of microminiatur autonomous underwater vehicle based on the new propulsion technology. Following are the main works of this thesis:Firstly, we make a number of observation experiments about marine turtle on the spot, research its every part posture parameters and proportion parameters, understand the characteristic of turtle swimming.By means of image processing and analysis method, we research the motion theory of turtle forelimb’s hydrofoil propulsion, and bring forward the new conception of imitating turtle hydrofoil propulsion motion.Secondly, we design the bionic turtle hydrofoil propulsion device, including mechanics configuration design and hardware electrocircuit design, and then manufacture the experiment prototype device. Establish the kinematics model and dynamics model of the propulsion device, then analysis its Jacobian matrix equation, preparing the reference to control system. Under the Pro/Engineer emulational condition, we do the device’s emulating motion experiments, and the results are important references to betterment of the hydrofoil propulsion device.Thirdly, we do the underwater experiments about the bionic hydrofoil propulsion experiment prototype device, and the results basically achieve the design intention of bionic turtle hydrofoil motion. At the same time, the results also validate the design of configuration, design of electrocircuit and design of eddy pressurize. Finally, we manufacture the bionic tutle hindlimb balance rudder experiment prototype device, and design the whole bionic turtle autonomouns underwater vehicle which including mechanics configuration design and contol project design. It is a new type of carrier blueprint about the autonomous underwater vehicle.This thesis discusses the motion theory of the halobios’ hydrofoil propulsion which is one of the representative underwater propulsion fashion. By means of establishing and analysing the kinematics modle of turtle, we design the bionic turtle hydrofoil propulsion device, and do the experiments to prove the feasibility of bionic hydrofoil propulsion theory and the reliability of bionic hydrofoil propulsion device.All of these are the important references to research on the bionic turtle autonomous underwater vehicle.更多还原