Propulsion Technology And Experimental Research Of Biomimetic Turtle Underwater Vehicle

The underwater vehicle plays an important role in ocean development. The propulsion technology is one of the main contents of the research on underwater vehicle. The hydrofoil propulsion is a exploratory research of the new type of propulsion for micro miniature underwater vehicle. To study the theory of the hydrofoil propulsion, discuss the bionic hydrofoil manipulation, analysis the hydrodynamic performance and developed the hydrofoil propulsion test prototype, have great significance on the exploration of new type of driving method for medium and low speed micro miniature underwater vehicle, and the improvement of its propulsion efficiency and maneuvering performance.This thesis conducted the theoretical analysis and experimental research on the control technology of the hydrofoil propulsion, the theory of hydrofoil cooperation motion and the hydrodynamic performance. The main research work is as follows:Firstly, the hardware and software control system with the DSP as the core processor of the hydrofoil propulsion prototype has been developed. According to the multiple motion unit cooperation control features of "HaiRen-I", a hierarchical control method based on the host controller and the sub controller for the motion units are designed. The hardware and software control system with the DSP as the core processor has been developed. A sensor test platform for the prototype was established. And the man-machine control interface was developed.Secondly, the motion principle of "HaiRen-I" prototype has been studied including four-wing collaborative movement, the hydrofoil cooperative motion, the webs cooperative motion and the stroke and azimuth cooperative motion. According to the accumulation of phase error between the right and left hydrofoil appears in the hydrofoil cooperative motion, a speed on-line adjustment method is provided, and carried out the validation experiment. Studying on the influence of hydrofoil stroke spin and azimuth spin phase error on the hydrofoil movement period and classifying the hydrofoil movement according to the phase error of stroke spin and azimuth spin, based on this a position close-loop control method of the hydrofoil azimuth spin was designed. And the effectiveness of this method was verified by the experiments.Thirdly, studying on the hydrodynamic performance of hydrofoil, the hydrofoil motion was simulated based on the vortex attaching on the face of hydrofoil and the wake vortex. The hydrofoil trajectory was refitted, and the curve of the stroke and azimuth spin was modified according to the experimental data, and therefore the position of the wake vortex was modified. The induced velocity of the liner vortex wire relative to arbitrary point was calculated according to the Biot-Savart method. The vertical hydrodynamic coefficients of the hydrofoil stroke spin and azimuth spin cooperative motion are calculated based on the unsteady vortex lattice method, and the results were verified.Finally experimental researches was carried out based on "HaiRen-I". The single hydrofoil unit motion experiment was conducted, in order to study the angular velocity distribution feature of motors used in stroke spin and azimuth spin. The prototype translation experiments in changing stroke and azimuth spin error and changing hydrofoil motion parameter were carried, aimed to study the influence of the stroke and azimuth spin error and the hydrofoil motion parameter to the "HaiRen-I" prototype motion performance. The regulation of the influence from the cooperation of the hydrofoil stroke and azimuth spin to the propulsion property was obtained.