基于CFD-PID方法的仿生鱼自推进运动研究
Research on Self-Propelled Motion of Bionic Fish by CFD-PID Method
王鹏飞 1李若欣 2于凯1
作者信息
- 1. 哈尔滨工程大学青岛创新发展中心,青岛 266400
- 2. 哈尔滨工程大学青岛创新发展中心,青岛 266400;哈尔滨工程大学船舶工程学院,哈尔滨 150000
- 折叠
摘要
相较于传统的螺旋桨推进方式,水下仿生推进具有灵活、高效及对环境干扰小等优势.该文在求解不可压N-S方程和牛顿第二定律的基础上,嵌入PID控制算法,构建CFD-PID求解器,模拟主动控制下的仿生鱼自推进运动.通过PID算法动态调节仿生鱼摆幅,间接控制其速度,使仿生鱼可以达到任意特定的收敛速度.与常规方式自推进相比,PID控制自推进能更快地加速到预定速度,且在加速时期产生更大尺度的涡,最终的动态平衡状态则与常规方式自推进一致.
Abstract
Underwater bionic propulsion has several advantages over traditional propeller propulsion methods,such as flexibility,efficiency,and less environmental impact.In this paper,on the basis of solving the incompressible N-S equation and Newton's second law,the PID control algorithm is embedded,and the CFD-PID solver is constructed to simulate the self-propelled motion of the bionic fish under active control.The speed of the bionic fish is indirectly controlled by dynamically adjusting the foil amplitude through a PID controller,allowing it to achieve any specific convergence velocity.Compared with conventional self-propulsion,PID-controlled self-propulsion can accelerate to a predetermined velocity faster,generate larger-scale vortices during the acceleration period,and achieve a dynamic equilibrium state that is consistent with conventional self-propulsion.
关键词
仿生鱼/自推进/PID控制/BCF模式Key words
Bionic fish/Self-propulsion/PID controller/BCF mode引用本文复制引用
出版年
2024
NETL
NSTL
万方数据