Analyzing method of dynamic characteristics of biomimetic seal whisker sensor

Abstract

The present invention provides an analyzing method of the dynamic characteristics of a biomimetic seal whisker sensor. The analyzing method comprises the following steps of : dividing a biomimetic seal whisker into a plurality of continuous Timoshenko beam sections; according to the kinematical equation and the dynamic balance equation of the Timoshenko beam sections, calculating the frequency-response function H00 of the linear displacement in accordance with shear force, the frequency-response function N00 of the angular displacement in accordance with the shear force, the frequency-response function L00 of the linear displacement in accordance with the bending moment, and the frequency-response function P00 of the angular displacement in accordance with the bending moment, of any point on the biomimetic seal tentacle. The analyzing method of the dynamic characteristics of the biomimetic seal whisker sensor adopts a multi-section Timoshenko beam theory and a transfer matrix method to analyze the dynamic characteristics of the biomimetic seal whisker in the free state, and reveals the influence rules of elasticity modulus, shear coefficients, damping ratios, sectional dimensions and the like on structural natural vibration characteristics, so that the analyzing method disclosed by the present invention has an important significance in the development of the biomimetic seal whisker sensor.

Description

technical field [0001] The invention relates to the technical field of bionic vibrissae sensors, in particular to a method for analyzing the dynamic characteristics of bionic seal vibrissae sensors. Background technique [0002] The development of offshore oil and gas resources and deep-sea mineral resources is an emerging field with strategic significance and has huge development potential. In the process of exploration and development of marine resources, autonomous underwater robots are one of the essential tools, which usually use camera or sonar technology as the perception system, among which, the camera is not suitable for turbid or dark water, while sonar and acoustic The systems are expensive and have limited battery performance. Compared with underwater sensors that rely on vision and hearing, the imitation seal tentacle sensor studied in recent years can perceive surrounding objects through changes in water flow, which is more suitable for the perception system o...

AI Technical Summary

Problems solved by technology

The problem of fluid-solid coupling dynamics has always been a difficult point in academia, which increases the difficulty of the dynamics research of the bionic seal tentacle sensor under the state of water flow. Some researchers have studied the dynamic characteristics of the bionic seal tentacle sensor through the acceleration sensor and the laser unique sensor. , but because the acceleration sensor is difficult to fix on the tentacles, and its relative mass is too large, it will seriously affect the vibration characteristics of the tentacles, and the laser displacement sensor has a fixed test range, which cannot accurately capture the real-time vibration characteristics of the imitation seal tentacles sensor in the flowing state

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