Underwater bionic vehicle based on mixed propulsion of pectoral fin and propeller

Abstract

The invention provides an underwater bionic vehicle based on mixed propulsion of a pectoral fin and a propeller, and belongs to the field of bionic underwater vehicles. The underwater bionic vehicle comprises a body part, a pectoral fin propulsion module, a propeller vector propulsion module and a skin shell; a control part of the vehicle is mounted in the body part; the pectoral fin propulsion module is provided with two symmetrical components mounted on two sides of the body part correspondingly; the propeller vector propulsion module is mounted at the tail end of the body part; and the skinshell wraps the outer side. According to the underwater bionic vehicle, the propulsion efficiency and the propulsion speed are obviously improved, and the movement is more flexible; an phase angle and a frequency of each motor are adjusted so that the vehicle can quickly and accurately complete actions such as steering, pitching, swimming back, zero-radius turning and the like; and secondly, thevehicle can complete the pitching and rotating actions under the condition of no motion speed through the cooperative motion of the propeller, and the maximum propulsion speed of the propeller can reach 15 knots to 20 knots, and has a significant improvement compared with the maximum propulsion speed of 2 knots to 3 knots of the vehicle propelled only propelled by the pectoral fin.

Description

technical field

[0001] The invention belongs to the field of bionic underwater vehicles, in particular to underwater bionic navigation based on the mixed propulsion of pectoral fins and propellers. Background technique

[0002] Since the beginning of the 21st century, the utilization of marine resources and the integrity of marine territory have taken an increasingly high position in national economy and security. In order to further explore the marine environment and utilize marine energy, countries around the world have begun to invest heavily in the research of autonomous underwater vehicle (AUV, Autonomous Underwater Vehicle) technology. my country has proposed the strategy of developing a marine power, and will develop the marine economy, safeguard marine rights and interests, protect the marine environment, and build a marine power as my country's key development plan, which has further promoted the development of my country's underwater vehicle technology.

[0003] T...

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