【摘要】 随着水下仿生机器人的发展,人们开始关注鱼群个体之间的能量传输。鱼类在水中游动时,尾鳍摆动会与水相互作用,形成尾涡。鱼类会从附近尾涡中汲取能量,降低自身消耗。但是,有学者指出鱼群中不同摆动相位差个体之间存在相互干扰,阻碍鱼群前进,增加了自身能量消耗。使用一种在线实时功率检测系统,检测并排游动时两条机器鱼的纯功率、速度等鱼群水动力性能随着机器鱼摆动其相位差变化趋势。同时研究了双鱼之间横向距离对纯功率消耗影响,并结合纯功率和速度计算机器鱼推力。引入效率计算方法,并结合纯功率、速度和推力,计算和拟合效率分布趋势图。更多还原

【Abstract】 With the development of biomimetic underwater robot,people began to pay attention to the energy transfer between the individual fish.When fish swimming in the water,the tail fin swing will interact with water to form a trailing vortex.Fish will draw energy from a nearby trailing vortex,which reduces their own consumption.However,some scholars have pointed out that the individual interference exists in fish between thfferent swing phase,which hinders the fish forward,increases their energy consumption.As used herein,an online realtime power detection system is used to detect the change trends of the hydrodynamic performance with the robotic fish swing phase such as pure power and speed of the two robots,when robotic fish swimming side by side.At the same time the influence of the horizontal thstance between the robotic fish swimming side by side on pure power consumption is also studied.Combined widi robotic fish pure power and speed to calculate robotic fish thrust.The efficiency calculation mediod of robotic fish is introduced and combined with the robotic fish pure power,speed and thrust,efficiency thstribution trends are calculated and fitted.更多还原