Long-fin torsional wave-propelled bionic underwater vehicle and motion mode thereof

Abstract

The invention relates to a long-fin torsional wave-propelled bionic underwater vehicle. The long-fin torsional wave-propelled bionic underwater vehicle comprises a main body; undulating fin structuresfor realizing undulation motions are symmetrically placed on the two sides of the main body; the swinging frequency, swinging amplitude, mid-sagittal plane position and wave number of each undulatingfin structure are controlled by a motion control system; and a tail fin structure is also arranged at the tail part of the main body. The long-fin torsional wave-propelled bionic underwater vehicle has the advantages of simple structure and convenient use. According to the long-fin torsional wave-propelled bionic underwater vehicle, lateral translational motion at a zero speed or a very-load speed, power rising and submerging motions in vertical zones, rollover motion at a zero speed or a very-load speed, pitching motion at a zero speed or a very-load speed, and horizontal plane rotational motion at a zero speed or a very-load speed are realized by using a motion of moving by using the undulating fin structures on the two sides of the main body; and the special maneuvering characteristicscan be realized by using differential motion between the undulating fin structures.

Description

technical field [0001] The invention relates to the field of unmanned underwater vehicles, in particular to a long-fin torsional wave propulsion bionic underwater vehicle and its movement mode. Background technique [0002] After long-term natural selection and evolution, fish have extraordinary water cruising performance and maneuverability. Their high efficiency, low noise, high speed and high mobility have attracted the attention of scholars from all over the world, making them a bionic robot in the field of underwater robots. object of study. In the 20th century, underwater robot technology, as the most important means for human beings to explore the ocean, is mainly used for the investigation, exploration and monitoring of the marine environment, providing a good platform for the development and utilization of marine resources. At the same time, as an underwater weapon, the underwater vehicle (UUV) has received widespread attention. In future naval warfare, UUV will o...

AI Technical Summary

Problems solved by technology

[0003] At present, underwater vehicles are mainly propelled by propellers, but it is difficult to achieve maneuvering at low speed or in a hovering state. In addition, when the propellers are adjusted for small movements, they are often in a non-full rotation working state, and their efficiency is significantly reduced. The impulsive force of the impulsive force reduces the accuracy of motion control; on the other hand, there are still technical bottlenecks in the control of propeller propulsion noise and wake

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