基于仿生推进的波浪滑翔机柔性蹼翼流固耦合动力特性研究

Ocean observation is the prerequisite for the human to cognize and develop the ocean. With the deepening of marine scientific research, the contradiction between the limited endurance of marine observation equipments and the large-scale ocean observation has hindered their further application in ocean observation. However, it has become possible to completely solve the problem of energy supply limiting their endurance, because of marine new energy development technology. Wave Glider with webbed wings(WGWW) is a new concept of marine robot utilizing wave energy and solar power, driven by flexible webbed wings. WGWW can overcome the shortcomings of traditional wave glider, such as complicated structure, weak maneuverability and low driving efficiency, so it can be better applied in ocean observation research. This project uses fluid-solid coupling dynamic characteristics of flexible webbed wing applied in wave glider as the research object. Through the establishment of its deformation model and driving force calculation model, and using fluid-structure coupled numerical simulation, the research on its driving characteristics is carried out under the wave load; based on the glider’s driving efficiency model, the stiffness optimization analysis of the bionic wing is completed. The research results above are compared and verified by combining the established principle prototype and pool experiment. The WGWW's basic issues related with bionic webbed wing’s dynamic characteristics will be resolved in this project, and this will provide the necessary theoretical basis and technology accumulation in developing the practical system of WGWW.

海洋观测是人类认识和开发海洋的基础。随着海洋科学研究的深入，海洋观测装备有限的续航力与大尺度海洋观测的矛盾，阻碍了其在海洋观测中的进一步应用，而海洋新能源开发技术，为彻底解决限制其续航力的能源供给提供了可能。蹼翼型波浪滑翔机是一种综合利用波浪能和太阳能，基于仿生驱动原理，通过柔性蹼翼驱动的新概念海洋机器人，它克服了传统波浪滑翔机结构复杂、机动性弱和驱动效率低等不足，从而能更好地应用于海洋观测研究。本项目以面向波浪滑翔机应用的仿生蹼翼的流固耦合动力特性为研究对象，通过建立其变形模型和驱动力计算模型，并采用流固耦合数值模拟，开展其在波浪载荷下的驱动特性研究；基于该滑翔机的驱动效率模型，完成仿生蹼翼的刚度优化分析；结合已搭建的原理样机和水池实验，将对以上研究成果进行对比分析和验证。本项目的研究将解决该滑翔机的仿生蹼翼动力特性的相关基础问题，为研制该机器人的实用系统提供必要的理论基础和技术积累。

海洋观测是海洋科学研究的基础，因为海洋科学本身就是一门基于观测的数据密集型科学，其学术思想和研究水平的提升离不开长期观测和数据积累。随着“海洋强国”国家战略的实施，以及海洋科学研究的深入，我国对海洋观测装备的性能要求越来越高。海洋观测装备有限的续航力与大尺度海洋观测的矛盾，阻碍了其在海洋观测中的进一步应用。基于仿生推进原理，本项目通过仿生蹼翼的引入，将水下仿生推进技术与海洋新能源（波浪能）利用相结合，提出了由柔性蹼翼驱动的蹼翼型波浪滑翔机实现方案。通过本项目的研究，获得如下结论：首先，建立了仿生蹼翼的变形模型和驱动力计算模型，为深入分析蹼翼型波浪滑翔机驱动机理奠定基础；其次，通过ANSYS workbench 数据交换平台，完成柔性蹼翼在不同流速和弯曲角度下的流固耦合运动数值模拟；然后，基于无限水深的线性波理论，通过设定波浪波高、周期以及波向角等参数，分析了该滑翔机器人在不同工况下的水动力特性；接着，建立该滑翔机的驱动效率模型，分析了仿生蹼翼在不同弯曲角度和速度下的升阻比和驱动力，结果表明：当柔性蹼翼的弯曲角度为25°左右时，其产生的驱动力将达到极值，这也为蹼翼的设计及刚度优化提供理论依据；最后，搭建了蹼翼型波浪滑翔机的原理样机，通过了造波水槽实验，验证了利用波浪能，仿生柔性蹼翼驱动的方案的可行性。通过本项目蹼翼型波浪滑翔机的仿生蹼翼动力特性的相关基础问题的研究，为研制该机器人的实用系统提供必要的理论基础和技术积累。