Simulated tail fin propulsion optimization effect test measurement method

Abstract

According to the simulated tail fin propulsion optimization effect test measurement method provided by the invention, tail fin swinging is simulated in a towing tank test environment, tail handle and tail fin stress data are collected and recorded, and the simulated tail fin propulsion optimization effect is obtained through test data post-processing, so that the difficulty in simulated tail fin propulsion thrust-resistance decoupling and the difficulty in propulsion efficiency definition are avoided; the problem of measurement of the simulated tail fin propulsion optimization effect is solved, and guidance is provided for test measurement of the simulated tail fin propulsion optimization effect.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater bionic technology, and relates to a test measurement method for optimizing the propulsion effect of a bionic tail fin, which is applicable to guiding the test measurement of the optimization effect of the swing propulsion of an underwater bionic tail fin. Background Art

[0002] Underwater bionic propulsion technology is a new propulsion mode that subverts traditional propeller propulsion. It imitates the movement of fish tail fins or pectoral fins, changes the flow field state to generate an orderly arranged anti-Kármán vortex street, and then generates a forward propulsion force. The propulsion efficiency can reach more than 90% at most. However, the underwater bionic propulsion efficiency is difficult to evaluate because the thrust and resistance in the propulsion process cannot be decoupled, and the propulsion efficiency evaluation model has not been unified yet. Relevant scholars at home and abroad have tried to use numerical simulation methods to study bionic propulsion efficiency. In the numerical calculation process, the forces acting on the fish body are decomposed, that is: the force along the head direction of the fish body is regarded as the thrust, and the force along the tail direction of the fish body is regarded as the resistance, and then the resistance and propulsion are decoupled. This method makes assumptions about the thrust and resistance and does not accurately obtain the actual thrust magnitude. In the experimental test of bionic propulsion efficiency, the drag resistance when not swinging is often regarded as the tail fin thrust when swimming at the same speed, which ignores the influence of the tail fin swing on the fish body resistance, resulting in controversial tail fin propulsion efficiency and no reliable test method for optimizing the tail fin propulsion effect. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0004] To this end, the present invention provides a test measurement method for optimizing the propulsion effect of a bionic tail fin. The solution of the present invention can be used to carry out the test measurement of the optimization effect of bionic tail fin propulsion in a towing tank environment. The present invention solves the problem of test measurement of the optimization effect of underwater bionic tail fin propulsion.

[0005] The technical solution of the present invention is as follows: The present invention provides a test measurement method for optimizing the propulsion effect of a bionic tail fin, and the method includes:

[0006] Step 1: Test model design, including

[0007] Design a scaled model for the bionic tail fin propulsion test. The model is sequentially divided into three parts from the head to the tail direction: the fish body, the caudal peduncle, and the tail fin. The movements of the caudal peduncle and the tail fin are designed according to the prototype drive mode;

[0008] Install a force measuring balance at the geometric center of the model, install a caudal peduncle torque measuring sensor between the caudal peduncle and the caudal peduncle drive motor, and install a tail fin torque measuring sensor between the tail fin and the tail fin drive motor;

[0009] Step 2: Determine the caudal peduncle motion equation and the caudal fin motion equation according to the motion coordination relationship between the prototype caudal peduncle and the caudal fin, and use them as the motion inputs for the caudal peduncle and caudal fin drive motors;

[0010] Step 3: Set the model obtained in Step 1 on the towing tank trailer and place the whole into the towing tank;

[0011] Step 4: Simulate the propulsion state of the test model and obtain test data, including:

[0012] Control the towing tank trailer to move at a set speed. At the same time, under the drive of the drive motor, the model swings according to the given motion law;

[0013] Record in real time the data of the measuring balance and each measuring sensor under the swinging states of the caudal peduncle and the caudal fin;

[0014] Judge the magnitude of the towing force obtained by the measuring balance. If the average value of the towing force is positive, reduce the swinging frequencies of the caudal peduncle and the caudal fin; otherwise, increase the swinging frequencies; until the average value of the towing force is zero, record the swinging frequencies of the caudal peduncle and the caudal fin and the data of the corresponding torque measuring sensors of the caudal peduncle and the caudal fin at this time;

[0015] Step 5: Replace the caudal fin in the model in Step 3 with the optimized caudal fin, and on this basis, repeat Step 4 to obtain the swinging frequencies of the caudal peduncle and the caudal fin and the data of the corresponding torque measuring sensors of the caudal peduncle and the caudal fin when the average value of the corresponding towing force is zero;

[0016] Step 6: Calculate the optimization efficiency of the propulsion efficiency of the caudal fin imitation according to the data obtained in Step 4 and Step 5.

[0017] Further, the set speed is determined according to the prototype swimming speed and the scale ratio of the caudal fin imitation propulsion test reduced-scale model.

[0018] Further, determine the scale ratio of the test model according to similarity criteria such as geometric similarity and kinematic similarity, as well as the towing tank wall efficiency.

[0019] Further, Step 6 specifically includes:

[0020] According to the swinging frequencies of the caudal peduncle and the caudal fin and the data of the corresponding torque measuring sensors of the caudal peduncle and the caudal fin when the average value of the towing force obtained in Step 4 is zero, obtain the input power P of the propulsion system before optimization in0 ;

[0021] According to the swinging frequencies of the caudal peduncle and the caudal fin and the data of the corresponding torque measuring sensors of the caudal peduncle and the caudal fin when the average value of the towing force obtained in Step 5 is zero, obtain the input power P of the propulsion system after optimization in1 ;

[0022] According to the input power P of the propulsion system before optimization in0And the input power P of the optimized propulsion system in1 Solve the optimized efficiency of the caudal fin-like propulsion efficiency.

[0023] Further, the optimized efficiency of the caudal fin-like propulsion efficiency is solved by the following formula:

[0024]

[0025] Where δ is the optimized efficiency of the caudal fin-like propulsion efficiency.

[0026] Further, the calculation methods of the input power of the propulsion system before optimization and the input power of the optimized propulsion system are the same, and the calculation method includes:

[0027] Obtain the rotational angular velocity of the caudal peduncle around the rotation center of the caudal peduncle based on the caudal peduncle swing frequency, and calculate the caudal peduncle drive power based on this rotational angular velocity and the caudal peduncle driving torque;

[0028] Obtain the rotational angular velocity of the caudal fin around the rotation center of the caudal fin based on the caudal fin swing frequency, and calculate the caudal fin drive power based on this rotational angular velocity and the caudal fin driving torque;

[0029] Add the caudal peduncle drive power and the caudal fin drive power to obtain the input power of the propulsion system.

[0030] Further, the caudal peduncle drive power is calculated based on this rotational angular velocity and the caudal peduncle driving torque by the following formula:

[0031] P wb_in =ω wb ·M wb

[0032] Where M wb is the caudal peduncle driving torque measured by the caudal peduncle torque measurement sensor; ω wb is the rotational angular velocity of the caudal peduncle around the rotation center of the caudal peduncle; P wb_in is the caudal peduncle drive power.

[0033] Further, the caudal fin drive power is calculated based on this rotational angular velocity and the caudal fin driving torque by the following formula:

[0034] P wq_in =ω wq ·M wq

[0035] Where M wq is the caudal fin driving torque measured by the caudal fin torque measurement sensor; ω wq is the rotational angular velocity of the caudal fin relative to the caudal peduncle; P wq_in is the caudal fin drive power.

[0036] The above technical solution simulates the tail fin swing in a towing tank test environment, collects and records the force data of the caudal peduncle and tail fin, and obtains the optimization effect of the biomimetic tail fin propulsion through post-processing of the test data. That is, the present invention provides a test method for measuring the optimization effect of the propulsion mode by simulating the tail fin swing in a towing tank environment. The present invention avoids the difficulties of decoupling the propulsion resistance and the problem of defining the propulsion efficiency of the biomimetic tail fin propulsion, solves the problem of measuring the optimization effect of the biomimetic tail fin propulsion, and provides guidance for the experimental measurement of the optimization effect of the biomimetic tail fin propulsion. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings included are used to provide a further understanding of the embodiments of the present invention, which form a part of the specification, illustrate the embodiments of the present invention, and together with the written description are used to explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0038] Figure 1 It is an installation diagram of the biomimetic tail fin propulsion efficiency test device. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way restricts the present invention and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0040] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0041] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn according to actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0042] Regarding the difficulties in decoupling thrust and drag in caudal fin propulsion and the controversy in the definition of propulsion efficiency, which lead to the problem of measuring the propulsion optimization effect, such as Figure 1 shown, an experimental measurement method for the optimization effect of caudal fin propulsion according to an embodiment of the present invention includes:

[0043] Step 1. Experimental model design, including

[0044] 1.1 Design a scaled-down model for caudal fin propulsion experiments. The model is sequentially divided into three parts from the head to the tail direction: the fish body, the caudal peduncle, and the caudal fin. The movements of the caudal peduncle and the caudal fin are designed according to the prototype drive mode.

[0045] 1.2 Install a force-measuring balance at the geometric center of the model, install a caudal peduncle torque measurement sensor between the caudal peduncle and the caudal peduncle drive motor, and install a caudal fin torque measurement sensor between the caudal fin and the caudal fin drive motor.

[0046] Step 2. Determine the caudal peduncle motion equation and the caudal fin motion equation according to the motion coordination relationship between the prototype caudal peduncle and the caudal fin, and use them as the motion inputs for the caudal peduncle and caudal fin drive motors.

[0047] Step 3. Set the model obtained in Step 1 on the towing tank trailer and place the whole in the towing tank.

[0048] Step 4. Simulate the propulsion state of the experimental model and obtain experimental data, including:

[0049] 4.1 Control the towing tank trailer to move at a set speed, and at the same time, the model swings according to the given motion law under the drive of the drive motor.

[0050] 4.2 Record in real time the data of the force-measuring balance and each measurement sensor when the caudal peduncle and the caudal fin are swinging.

[0051] 4.3 Determine the magnitude of the drag force obtained by measuring the balance. If the average value of the drag force is positive, reduce the swing frequencies of the tail stock and the tail fin; otherwise, increase the swing frequencies until the average value of the drag force is zero. Record the swing frequencies of the tail stock and the tail fin and the data of the corresponding torque measurement sensors of the tail stock and the tail fin at this time.

[0052] Step 5: Replace the tail fin in the model in Step 3 with the optimized tail fin, and on this basis, repeat Step 4 to obtain the swing frequencies of the tail stock and the tail fin and the data of the corresponding torque measurement sensors of the tail stock and the tail fin when the average value of the corresponding drag force is zero.

[0053] Step 6: Calculate the optimization efficiency of the bionic tail fin propulsion efficiency according to the data obtained in Step 4 and Step 5.

[0054] That is, according to similarity criteria such as geometric similarity and motion similarity, considering the efficiency of the towing tank wall, determine the scale ratio of the test model. Based on the shape of the bionic tail fin propulsion submersible, the division of the motion cabin section, the driving form, etc., design the scaled test model and the servo drive system; at the same time, according to the measurement scheme, determine the installation positions of the overall force measuring balance of the model, the torque measurement sensors of the tail stock and the tail fin, etc. inside the model, design the internal mechanism and support form of the model, and process the test model. During measurement, take the bionic tail fin propulsion model as the test object and the towing tank as the test platform, and use the model swing + towing method to simulate the propulsion state of the bionic tail fin model. Install the bionic tail fin propulsion test model on the support frame of the pool trailer. The trailer drives the test model to move forward at a constant speed v. The model swings according to the given motion law under the drive of the internal servo system. Among them, install a three-component force sensor between the model and the support rod to test and record the axial force data received by the entire model at any state in real time. Measure the drag force Fx of the model, change the swing frequency f, and obtain the driving torque M of the tail stock when the tail stock and the tail fin of the bionic tail fin propulsion model swing jointly when the average value of the drag force is zero. wb , the driving torque M of the tail fin wq . According to the above variables, the input power P of the tail fin swing can be calculated. in . By comparing the input powers P of different tail fin propulsions under the same speed condition in , obtain the optimization effect of the tail fin propulsion.

[0055] In the embodiment of the present invention, the optimized tail fin is a known quantity.

[0056] It can be seen that in the embodiment of the present invention, the tail fin swing is simulated in a towing tank test environment, and the force data of the caudal peduncle and the tail fin are collected and recorded. The optimization effect of the tail fin-like propulsion is obtained through post-processing of the test data. That is, the present invention provides a test method for measuring the optimization effect of the propulsion in the mode of simulating the tail fin swing in a towing tank environment. The present invention avoids the difficulties of decoupling the propulsion resistance and the definition problem of the propulsion efficiency of the tail fin-like propulsion, solves the problem of measuring the optimization effect of the tail fin-like propulsion, and provides guidance for the test measurement of the optimization effect of the tail fin-like propulsion.

[0057] In the above embodiment, the set speed is determined according to the prototype swimming speed and the scale ratio of the scaled model of the tail fin-like propulsion test.

[0058] For example, the set speed can be obtained by multiplying the prototype swimming speed by the scale ratio.

[0059] In the above embodiment, step six specifically includes:

[0060] According to the data of the caudal peduncle and tail fin swing frequencies and the corresponding moment measurement sensors of the caudal peduncle and tail fin when the average towing force obtained in step four is zero, the input power P of the propulsion system before optimization is obtained in0 ;

[0061] According to the data of the caudal peduncle and tail fin swing frequencies and the corresponding moment measurement sensors of the caudal peduncle and tail fin when the average towing force obtained in step five is zero, the input power P of the propulsion system after optimization is obtained in1 ;

[0062] According to the input power P of the propulsion system before optimization in0 and the input power P of the propulsion system after optimization in1 The optimized efficiency of the tail fin-like propulsion efficiency is calculated.

[0063] Among them, the optimized efficiency of the tail fin-like propulsion efficiency is calculated by the following formula:

[0064]

[0065] Among them, δ is the optimized efficiency of the tail fin-like propulsion efficiency.

[0066] In the above embodiment, the calculation methods of the input power of the propulsion system before optimization and the input power of the propulsion system after optimization are the same, and the calculation method includes:

[0067] Based on the caudal peduncle swing frequency, the rotational angular velocity of the caudal peduncle around the rotation center of the caudal peduncle is obtained, and the caudal peduncle driving power is calculated based on this rotational angular velocity and the caudal peduncle driving torque;

[0068] Based on the tail fin swing frequency, the rotational angular velocity of the tail fin around the rotation center of the tail fin is obtained, and the tail fin driving power is calculated based on this rotational angular velocity and the tail fin driving torque;

[0069] The propulsive system input power is obtained by adding the caudal peduncle drive power and the caudal fin drive power: P in = P wb_in + P wq_in .

[0070] Among them, the caudal peduncle drive power is calculated based on the rotational angular velocity and the caudal peduncle driving torque by the following formula:

[0071] P wb_in = ω wb ·M wb

[0072] Among them, M wb is the caudal peduncle driving torque measured by the caudal peduncle torque measurement sensor; ω wb is the rotational angular velocity of the caudal peduncle around the rotation center of the caudal peduncle; P wb_in is the caudal peduncle drive power.

[0073] Among them, the caudal fin drive power is calculated based on the rotational angular velocity and the caudal fin driving torque by the following formula:

[0074] P wq_in = ω wq ·M wq

[0075] Among them, M wq is the caudal fin driving torque measured by the caudal fin torque measurement sensor; ω wq is the rotational angular velocity of the caudal fin relative to the caudal peduncle; P wq_in is the caudal fin drive power.

[0076] In the embodiments of the present invention, the method for calculating the rotational angular velocity is a well-known technology in the art and will not be elaborated here in detail.

[0077] In the embodiments of the present invention, according to the general efficiency calculation method, the caudal fin swing propulsion efficiency is:

[0078]

[0079] In the formula, P out is the effective power generated by the caudal fin propulsion to overcome the model resistance.

[0080] Since the same model swims at the same speed, the effective work done to overcome the resistance is equal. Therefore, the input power can be compared without measuring the resistance, avoiding the controversy over the definition of the bionic propulsion resistance, and obtaining the optimization effect of the propulsion efficiency. The calculation formula is as follows:

[0081]

[0082] In the formula, δ is the optimization efficiency of the caudal fin-like propulsion efficiency, η0 is the propulsion efficiency before optimization, η1 is the propulsion efficiency after optimization, Pin0 Input power of the propulsion system before optimization, P in1 Input power of the propulsion system after optimization, P out0 Effective power of the fin - like tail propulsion before optimization, P out1 Effective power of the fin - like tail propulsion before and after optimization. Among them, due to the same swimming speed, the effective power of the tail fin propulsion before and after optimization is equal, that is, P out0 = P out1 .

[0083] To further understand the present invention, the following takes a specific embodiment as an example to further illustrate the present invention.

[0084] This embodiment provides a test measurement method for the optimization effect of fin - like tail propulsion. The method specifically includes:

[0085] Step 1: According to the similarity accuracy of model geometric similarity and motion similarity, design a fin - like tail propulsion test model with a 1:1 scale ratio. The model is divided into three parts from the head to the tail, namely the fish body, the caudal peduncle, and the tail fin. The motions of the caudal peduncle and the tail fin are designed according to the prototype driving mode; install a force - measuring balance at the geometric center of the model, install a caudal peduncle torque measurement sensor between the caudal peduncle and the caudal peduncle driving motor, and install a tail fin torque measurement sensor between the tail fin and the tail fin driving motor. Complete the model processing and general assembly according to the model design scheme;

[0086] Step 2: Determine the caudal peduncle motion equation and the tail fin motion equation according to the motion coordination relationship between the prototype caudal peduncle and the tail fin, and use them as the motion inputs for the caudal peduncle and tail fin driving motors;

[0087] Step 3: Determine the speed of the towing tank trailer according to the prototype swimming speed, and make the two equal;

[0088] Step 4: The towing tank trailer moves at the speed determined in Step 3. Record the data of the measuring balance, the measuring sensors under the swinging states of the caudal peduncle and the tail fin, and the trailer speed. If the average towing force is positive, then reduce the swinging frequency of the two; otherwise, increase the swinging frequency of the two; until the average towing force is zero, record the swinging frequency and the data of the caudal peduncle and tail fin torque measurement sensors;

[0089] Step 5: Replace the optimized tail fin and repeat Step 4;

[0090] Step 6: Calculate the caudal peduncle driving power and the tail fin driving power under the combined swing of the caudal peduncle and the tail fin through the torque measurement data of the caudal peduncle and the tail fin and the corresponding swinging frequencies of the caudal peduncle and the tail fin, and sum the caudal peduncle driving power and the tail fin driving power to obtain the input power of the tail fin propulsion system;

[0091] Step 7: Calculate the optimization effect of the fin - like tail propulsion efficiency according to the input power of the propulsion system before and after the tail fin optimization at the same swimming speed.

[0092] It can be seen that, in view of the difficult decoupling of thrust and drag in the imitation caudal fin propulsion and the controversial definition of propulsion efficiency, which lead to the problem of measuring the propulsion optimization effect, the embodiments of the present invention provide an experimental method for measuring the propulsion optimization effect by simulating the caudal fin swinging propulsion mode in a towing tank environment. This method avoids the difficulties in decoupling thrust and drag in the imitation caudal fin propulsion and the problem of defining propulsion efficiency, solves the problem of measuring the propulsion optimization effect of the imitation caudal fin, and provides guidance for the experimental measurement of the propulsion optimization effect of the imitation caudal fin.

[0093] The features described and / or illustrated for one embodiment above can be used in the same or similar manner in one or more other embodiments, and / or combined with the features in other embodiments or used to replace the features in other embodiments.

[0094] It should be emphasized that the term "comprising / including" when used herein refers to the presence of features, whole things, steps or components, but does not exclude the presence or addition of one or more other features, whole things, steps, components or combinations thereof.

[0095] The above methods of the present invention can be implemented by hardware or by a combination of hardware and software. The present invention relates to such a computer-readable program that, when executed by a logic component, can enable the logic component to implement the device or component described above, or enable the logic component to implement the various methods or steps described above. The present invention also relates to a storage medium for storing the above program, such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, etc.

[0096] Many features and advantages of these embodiments are clear from this detailed description, so the appended claims are intended to cover all such features and advantages of these embodiments that fall within their true spirit and scope. In addition, since many modifications and changes are readily conceivable by those skilled in the art, the embodiments of the present invention are not to be limited to the exact structures and operations illustrated and described, but may cover all suitable modifications and equivalents that fall within their scope.

[0097] The parts not detailed in the present invention are well-known technologies to those skilled in the art.

Claims

1. A method for testing and measuring the optimization effect of simulated tail fin propulsion, characterized in that: The method comprises: Step 1: Experimental model design, including Design a scaled-down model of the caudal fin propulsion test, wherein the model is divided into three parts, namely, the fish body, the caudal peduncle and the caudal fin, from the head to the tail. The movements of the caudal peduncle and the caudal fin are designed according to the prototype driving mode; A force balance is installed at the geometric center of the model, a tail handle torque measurement sensor is installed between the tail handle and the tail handle driving motor, and a tail fin torque measurement sensor is installed between the tail fin and the tail fin driving motor; Step 2: According to the motion coordination relationship between the prototype caudal peduncle and the caudal fin, the caudal peduncle motion equation and the caudal fin motion equation are determined and used as the motion input of the caudal peduncle and caudal fin drive motors; Step 3, setting the model obtained in step 1 on the towing tank trailer and placing the entire model in the towing tank; Step 4: Simulate the test model advancement status and obtain test data, including: The towing tank trailer is controlled to move at a set speed, and the model is driven by the drive motor to swing according to the given motion law; Real-time recording of the data of the measuring balance and each measuring sensor when the tail peduncle and tail fin are swinging; Determine the magnitude of the drag force obtained by the measuring balance. If the mean value of the drag force is positive, reduce the swing frequency of the tail peduncle and the tail fin; otherwise, increase the swing frequency until the mean value of the drag force is zero. Record the data of the tail peduncle and the tail fin swing frequency and the corresponding torque measurement sensor of the tail peduncle and the tail fin at this time. Step 5: Replace the caudal fin in the model of step 3 with the optimized caudal fin, and repeat step 4 on this basis to obtain the data of the caudal peduncle and caudal fin swing frequency and the corresponding moment measurement sensor of the caudal peduncle and caudal fin when the mean value of the corresponding drag force is zero; Step 6: Calculate the optimized efficiency of the simulated tail fin propulsion efficiency based on the data obtained in steps 4 and 5.

2. The method for testing and measuring the optimization effect of simulated tail fin propulsion according to claim 1, characterized in that: The set speed is determined according to the swimming speed of the prototype and the scale ratio of the scaled-down model of the tail fin propulsion test.

3. The method for testing and measuring the optimization effect of simulated tail fin propulsion according to claim 2, characterized in that: The scale ratio of the test model is determined based on similarity criteria such as geometric similarity and motion similarity, as well as the efficiency of the towing tank wall.

4. A method for testing and measuring the optimization effect of simulated tail fin propulsion according to any one of claims 1 to 3, characterized in that: The step six specifically includes: According to the data of the tail handle and tail fin swing frequency and the tail handle and tail fin corresponding torque measurement sensor when the mean drag force is zero obtained in step 4, the input power P of the propulsion system before optimization is obtained. in0 ; According to the data of the tail handle and tail fin swing frequency and the tail handle and tail fin corresponding torque measurement sensor when the mean drag force is zero obtained in step 5, the input power P of the optimized propulsion system is obtained. in1 ; According to the propulsion system input power P before optimization in0 And the optimized propulsion system input power P in1 Solve the optimization efficiency of the simulated tail fin propulsion efficiency.

5. The method for testing and measuring the optimization effect of simulated tail fin propulsion according to claim 4, characterized in that: The optimized efficiency of the tail fin propulsion efficiency is calculated by the following formula: Among them, δ is the optimized efficiency of the propulsion efficiency of the simulated tail fin.

6. A tail fin propulsion optimization effect test and measurement method according to claim 4 or 5, characterized in that: The calculation method of the propulsion system input power before optimization and the propulsion system input power after optimization is the same, and the calculation method includes: The tail handle is used to obtain a rotational angular velocity of the tail handle around a rotation center of the tail handle based on the swing frequency of the tail handle, and a tail handle driving power is calculated based on the rotational angular velocity and the tail handle driving torque; The tail fin is swung to obtain a rotational angular velocity of the tail fin around a rotation center of the tail fin based on the swinging frequency of the tail fin, and the tail fin driving power is calculated based on the rotational angular velocity and the tail fin driving torque; The propulsion system input power is obtained by adding the tail peduncle drive power and the tail fin drive power.

7. The method for testing and measuring the optimization effect of simulated tail fin propulsion according to claim 6, characterized in that: The tail shank driving power is calculated based on the rotational angular velocity and the tail shank driving torque by the following formula: P wb_in =ω wb ·M wb Among them, M wb is the tail handle driving torque measured by the tail handle torque measurement sensor; ω wb P is the angular velocity of the caudal peduncle around the caudal peduncle rotation center; wb_in The driving power of the tail handle.

8. The method for testing and measuring the optimization effect of simulated tail fin propulsion according to claim 6, characterized in that: The tail fin drive power is calculated based on the rotational angular velocity and the tail fin drive torque by the following formula: P wq_in =ω wq ·M wq Among them, M wq is the tail fin driving torque measured by the tail fin torque measurement sensor; ω wq is the angular velocity of the caudal fin relative to the caudal peduncle; P wq_in is the tail fin driving power.

Images