柔性长鳍波动推进流体动力测试平台-控制理论与应用.PDFVIP

24 6 Vol. 24 No. 6 2007 12 Control Theory Applications Dec. 2007 :2007 , ( , 410073) : MPF, . , 66 . , / , . . : ; ; ; ; : TP212 : A Test platform of hydrodynamic force produced by undulation of long flexible fin XIE Hai-bin, SHEN Lin-cheng (College of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha Hunan 410073, China) Abstract: A technical scheme is presented to construct the test platform of hydrodynamic force produced by undulation of the long flexible fin, which will be an supplementary tool for studying dynamics of the long flexible fin undulatory propulsion belonging to fish MPF (median and/or pair fin) propulsion mode. Firstly, the architecture of test platform is determined according to the functional requirements. Secondly, the bionic device of the long flexible fin is designed as a tested model and the measurement system of hydrodynamic force capable of measuring 6 degreees of freedom forces and motion parameters. The test platform utilizes the bionic device to imitate diversified undulatory movement modes of the bionic object, uses the measurement system to obtain the hydrodynamic forces and moments under the static and dynamic conditions, and realizes remote operation through the measurement and control system. The test platform will be an important platform used to studying the mechanism and control of the long flexible fin undultory propulsion. Key words: long flexible fin; undulatory propulsion; hydrodynamic force; test platform; bionic device 1