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研究了尾鳍攻角对机器海豚推进的影响,以绕有限翼展机翼不可压缩流动理论为基础,将机器海豚的尾鳍建模为有限翼展机翼并进行了受力分析,得出了尾鳍攻角变化律与推进力及推进效率之间的关系.将两关节的机器海豚视为一个多刚体系统,给出了在不考虑机器海豚头部垂直晃动情况下的动力学方程.基于尾鳍攻角变化律得到动力学方程的迭代求解形式,通过正弦和斜齿波尾鳍攻角变化律的仿真对不同攻角规律下的推进效果进行了验证.仿真结果表明:在速度和推进力方面正弦波的攻角变化有一定优势.
The influence of caudal fin angle of attack on the dolphin propulsion was studied. Based on the incompressible flow theory of a finite spanned wing, the tail fin of a dolphin was modeled as a finite wing spanned wing and subjected to force analysis. The caudal fin The relationship between the change law of angle of attack and propulsion and propulsive efficiency The two-joint machine dolphin is considered as a multi-rigid body system, and the dynamic equation is given without considering the vertical sloshing of the head of the robot dolphin.Based on the caudal fin attack The law of angular variation obtained the iterative solution form of the dynamic equation, and the simulation results of the law of the angle of attack of the sine and the helical toe-tail fin verified the propulsive effect under different angles of attack. The simulation results show that in terms of speed and propulsion, The angle of attack changes have some advantages.