Article(id=1149773877301174292, tenantId=1146029695717560320, journalId=1146123166801305609, issueId=1149773869357167407, articleNumber=null, orderNo=null, doi=10.12404/j.issn.1671-1815.2404454, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1718294400000, receivedDateStr=2024-06-14, revisedDate=1737388800000, revisedDateStr=2025-01-21, acceptedDate=null, acceptedDateStr=null, onlineDate=1752057054114, onlineDateStr=2025-07-09, pubDate=1746633600000, pubDateStr=2025-05-08, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1752057054114, onlineIssueDateStr=2025-07-09, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1752057054114, creator=13701087609, updateTime=1752057054114, updator=13701087609, issue=Issue{id=1149773869357167407, tenantId=1146029695717560320, journalId=1146123166801305609, year='2025', volume='25', issue='13', pageStart='5273', pageEnd='5704', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=0, createTime=1752057052207, creator=13701087609, updateTime=1768456769392, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1218559268744253990, tenantId=1146029695717560320, journalId=1146123166801305609, issueId=1149773869357167407, language=EN, specialIssueTitle=, coverIllustrator=, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1218559268744253991, tenantId=1146029695717560320, journalId=1146123166801305609, issueId=1149773869357167407, language=CN, specialIssueTitle=, coverIllustrator=, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=5297, endPage=5304, ext={EN=ArticleExt(id=1149773877703827478, articleId=1149773877301174292, tenantId=1146029695717560320, journalId=1146123166801305609, language=EN, title=Vortex Dynamics and Wave Propulsion Analysis Imitating Flatworm Wing Morphology, columnId=1156264149949735860, journalTitle=Science Technology and Engineering, columnName=Papers·Mechanics, runingTitle=null, highlight=null, articleAbstract=

In order to investigate the vortex characteristics and wave propulsion generated by the undulating pectoral fins of the flatworm, a simplified model of the flatworm's pectoral fin was re-established using the linear interpolation method in MATLAB. The relationship between thrust and kinetic energy, during the flatworm's swimming was derived, and the undulating posture of the flatworm was simulated using Fluent software. The results show that compared to similar MPF propulsion fish species such as rays and cownose rays, the flatworm, due to its narrow and elongated body structure, exhibits better stability, adaptability, and flexibility in water. When the Reynolds number is set to 1.05×105, the pectoral fins of the flatworm demonstrates more stable thrust, effectively reducing flow separation and turbulence effects. At a frequency of 0.6 Hz and a wavelength of 2.5 m, the pectoral fins displays optimal undulating parameters, enhancing fluid mixing and energy transfer efficiency, thereby improving the flatworm's propulsion performance. It is concluded that, during the mid-phase of an undulation cycle, the pressure distribution on the pectoral fins changes significantly, with the lift efficiency being highest at the peak of the undulation.

, correspAuthors=Hai-long JIANG, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, authorCompany=null, fund=null, authors=null, authorsList=Ji-xin LI, Hai-long JIANG), CN=ArticleExt(id=1149773912424276166, articleId=1149773877301174292, tenantId=1146029695717560320, journalId=1146123166801305609, language=CN, title=仿海扁虫翼型的涡动力学及波动推力分析, columnId=1156264150092342198, journalTitle=科学技术与工程, columnName=论文·力学, runingTitle=null, highlight=null, articleAbstract=

为了研究海扁虫摆动胸鳍时所产生的涡流特性以及波动推力,通过MATLAB的线性插值法重新建立了海扁虫胸鳍的简化模型,并推导出了海扁虫在游动时,推力、湍动能等参数之间的关系,最后利用Fluent软件对海扁虫的摆动姿态进行了模拟。结果表明:相较鳐鱼和牛鼻鲼等使用中对鳍(median paired fin,MPF)推进模式的鱼类,海扁虫因其窄长的身体结构特性,能够在水中表现出更好的稳定性、适应性及灵活性;当雷诺数设置为1.05×105时,海扁虫胸鳍会表现出更稳定的推力,能够有效减少流体分离和湍流影响;在频率为0.6 Hz、波长为2.5m时,海扁虫胸鳍呈现出最优的摆动参数,提高了流体的混合和动力传递效率,进而提高了海扁虫的推进性能;在一个摆动周期的中期,胸鳍压强分布变化显著,在摆动的最高点时,升力效率最高。

, correspAuthors=姜海龙, authorNote=null, correspAuthorsNote=
* 姜海龙(1989—),男,汉族,山东烟台人,博士,副教授。研究方向:石油工程相关渗流力学。E-mail:
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李纪新(2001—),男,汉族,陕西西安人,硕士研究生。研究方向:机械设计及其理论等。E-mail:

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李纪新(2001—),男,汉族,陕西西安人,硕士研究生。研究方向:机械设计及其理论等。E-mail:

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李纪新(2001—),男,汉族,陕西西安人,硕士研究生。研究方向:机械设计及其理论等。E-mail:

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Acta Mechnica Sinica(English Series), 2004, 1: 16-23., articleTitle=A numerical and analytical study on a tail-flapping model for fish fast C-start, refAbstract=null)], funds=[Fund(id=1175114050401874055, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1149773877301174292, awardId=52104005, language=CN, fundingSource=国家自然科学基金(52104005), fundOrder=null, country=null), Fund(id=1175114050485760138, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1149773877301174292, awardId=2021JM-407, language=CN, fundingSource=陕西省自然科学基础研究计划(2021JM-407), fundOrder=null, country=null)], companyList=[AuthorCompany(id=1175114047134511188, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1149773877301174292, xref=null, ext=[AuthorCompanyExt(id=1175114047142899797, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1149773877301174292, companyId=1175114047134511188, language=EN, country=null, province=null, city=null, 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figureFileSmall=Wrogu3/WYcKJgv7aKLDy6A==, figureFileBig=3UQWGHKRcMIunJNWp9KClg==, tableContent=null), ArticleFig(id=1175114050125049984, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1149773877301174292, language=CN, label=图10, caption=MPF模式鱼类游动曲线对比, figureFileSmall=Wrogu3/WYcKJgv7aKLDy6A==, figureFileBig=3UQWGHKRcMIunJNWp9KClg==, tableContent=null), ArticleFig(id=1175114050213130370, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1149773877301174292, language=EN, label=Table 1, caption=

Design of experimental motion parameters for different pectoral Fins

, figureFileSmall=null, figureFileBig=null, tableContent=
运动参数 取值
振幅A/(°) 10~60
摆动频率f/Hz 0.1~0.6
相位差φ/(°) -40~40
拖曳速度V/(m·s-1) 0~0.5
), ArticleFig(id=1175114050276044932, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1149773877301174292, language=CN, label=表1, caption=

不同胸鳍对比实验运动参数设计

, figureFileSmall=null, figureFileBig=null, tableContent=
运动参数 取值
振幅A/(°) 10~60
摆动频率f/Hz 0.1~0.6
相位差φ/(°) -40~40
拖曳速度V/(m·s-1) 0~0.5
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仿海扁虫翼型的涡动力学及波动推力分析
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李纪新 , 姜海龙 *
科学技术与工程 | 论文·力学 2025,25(13): 5297-5304
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科学技术与工程 | 论文·力学 2025, 25(13): 5297-5304
仿海扁虫翼型的涡动力学及波动推力分析
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李纪新 , 姜海龙*
作者信息
  • 西安石油大学机械工程学院, 西安 710065
  • 李纪新(2001—),男,汉族,陕西西安人,硕士研究生。研究方向:机械设计及其理论等。E-mail:

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* 姜海龙(1989—),男,汉族,山东烟台人,博士,副教授。研究方向:石油工程相关渗流力学。E-mail:
Vortex Dynamics and Wave Propulsion Analysis Imitating Flatworm Wing Morphology
Ji-xin LI , Hai-long JIANG*
Affiliations
  • School of Mechanical Engineering, Xi'an Shiyou University, Xi'an 710065, China
出版时间: 2025-05-08 doi: 10.12404/j.issn.1671-1815.2404454
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为了研究海扁虫摆动胸鳍时所产生的涡流特性以及波动推力,通过MATLAB的线性插值法重新建立了海扁虫胸鳍的简化模型,并推导出了海扁虫在游动时,推力、湍动能等参数之间的关系,最后利用Fluent软件对海扁虫的摆动姿态进行了模拟。结果表明:相较鳐鱼和牛鼻鲼等使用中对鳍(median paired fin,MPF)推进模式的鱼类,海扁虫因其窄长的身体结构特性,能够在水中表现出更好的稳定性、适应性及灵活性;当雷诺数设置为1.05×105时,海扁虫胸鳍会表现出更稳定的推力,能够有效减少流体分离和湍流影响;在频率为0.6 Hz、波长为2.5m时,海扁虫胸鳍呈现出最优的摆动参数,提高了流体的混合和动力传递效率,进而提高了海扁虫的推进性能;在一个摆动周期的中期,胸鳍压强分布变化显著,在摆动的最高点时,升力效率最高。

仿生学  /  水动力特性  /  波动推力  /  自适应网格技术  /  计算流体动力学

In order to investigate the vortex characteristics and wave propulsion generated by the undulating pectoral fins of the flatworm, a simplified model of the flatworm's pectoral fin was re-established using the linear interpolation method in MATLAB. The relationship between thrust and kinetic energy, during the flatworm's swimming was derived, and the undulating posture of the flatworm was simulated using Fluent software. The results show that compared to similar MPF propulsion fish species such as rays and cownose rays, the flatworm, due to its narrow and elongated body structure, exhibits better stability, adaptability, and flexibility in water. When the Reynolds number is set to 1.05×105, the pectoral fins of the flatworm demonstrates more stable thrust, effectively reducing flow separation and turbulence effects. At a frequency of 0.6 Hz and a wavelength of 2.5 m, the pectoral fins displays optimal undulating parameters, enhancing fluid mixing and energy transfer efficiency, thereby improving the flatworm's propulsion performance. It is concluded that, during the mid-phase of an undulation cycle, the pressure distribution on the pectoral fins changes significantly, with the lift efficiency being highest at the peak of the undulation.

biomimicry  /  hydrodynamic properties  /  wave propulsion  /  adaptive mesh techniques  /  computational fluid dynamics
李纪新, 姜海龙. 仿海扁虫翼型的涡动力学及波动推力分析. 科学技术与工程, 2025 , 25 (13) : 5297 -5304 . DOI: 10.12404/j.issn.1671-1815.2404454
Ji-xin LI, Hai-long JIANG. Vortex Dynamics and Wave Propulsion Analysis Imitating Flatworm Wing Morphology[J]. Science Technology and Engineering, 2025 , 25 (13) : 5297 -5304 . DOI: 10.12404/j.issn.1671-1815.2404454
随着科技的进步,人类在海洋开发与利用方面的步伐逐渐加快。设计一种能够进行海洋勘测、海底探查、海洋救捞、海底管道检测以及水下侦查的仿生机器人,已成为探索海洋、开发海洋和维护海洋安全的重要需求[1]。目前针对水下的仿生鱼类有中对鳍(median paired fin,MPF)和体尾鳍(body caudal fin,BCF)两个主要的研究方向,其中BCF模式是指鱼类通过躯干弯曲和尾鳍摆动产生推力,从而获得高速、高效的快速游动[2-3];而MPF模式的鱼类则是利用它们三角状的宽胸鳍,进行对称摆动进而实现矢量推进。这种推进模式能够兼具螺旋桨和方向舵功能[4],其相对较高的长宽比带来了出色的滑翔效率,使它们能够长时间不休息地行驶数千公里,同时也比BCF推进模式拥有更好的推进效率、机动性和噪声控制能力[5]
对比国内外有关鱼类的研究,Ramananarivo等[6]通过数值模拟及理论分析,讨论了鱼在流体中的二次阻力项模型从驻波变为行波的原因,发现鱼体的波状摆动是由肌肉控制的流固耦合现象引起的。然而,流体在鱼体波动中的具体作用仍不明确,波动的机理仍存在疑问。基于已有的鳐鱼水动力学仿真结果,何建慧等[7]借助仿生波动鳍的推进机理,深入剖析了仿生波动鳍在推进过程中的关键机制,通过调控波动频率、胸鳍波数和波动振幅等参数,实现了更优越的推进性能。王岱峰等[8]以NACA0012翼型为对象,探讨了地效飞行器的空气动力学地面效应,研究发现,随着攻角的变化,升阻比有所提高。利用这一升阻特性,可以将NACA0012翼型作为海扁虫模型的简化研究对象进行仿真模拟,从而简化仿生波动研究。杨少波等[9]基于鱼类胸鳍模式的运动学模型,研究了物理参数和运动参数对推进波形的影响,并对其进行流体仿真,探讨其运动规律。陈怀远等[10]根据鳐鱼胸鳍波动推进的特点,建立了仿生环形胸鳍的运动学模型,利用计算流体力学对胸鳍波动推进过程进行了数值计算。通过分析波动胸鳍产生的拉力及速度等推进性能,揭示了仿生胸鳍在水中的推进机制。李宁宇等[11]采用改进的浸入边界法,研究了胸鳍简化模型的三维特性尾涡结构,系统性地探讨了运动参数对拍动翼尾结构和水动力性能的影响。
在现有的理论和实践基础上,现考虑流体与固体界面的复杂相互作用,尤其是波动过程中流体的非线性效应和三维尾涡结构的生成机制,总结海扁虫在进行波动运动时胸鳍的推动机理,把海扁虫胸鳍转换为具有同样运动特性的二维运动模型;计算有关海扁虫所产生的涡量模型的计算公式;通过调整波动频率、振幅和波数等参数,优化海扁虫的推进性能;最后利用Fluent软件对海扁虫的运动进行流体力学分析。
通过研究海扁虫的二维基本运动特性,发现海扁虫的前进主要是通过身体的波动实现。它能通过身体的顺序收缩和放松产生波浪形运动,从而在海底表面“爬行”。在二维空间内,海扁虫的运动可以被视为沿着一条路径的波动。对于不可压缩流体,海扁虫的流动模型可以用纳维-斯托克斯 (Navier-Stokes)流体运动偏微分方程[12]表示如下。
$\left\{\begin{array}{l} \frac{\partial \boldsymbol{u}^{\prime}}{\partial t}+\left(\boldsymbol{u}^{\prime} \cdot \nabla\right) \boldsymbol{u}^{\prime}=-\frac{1}{\rho} \nabla p+\mu \nabla^{2} \boldsymbol{u}^{\prime}+\boldsymbol{f} \\ \nabla \boldsymbol{u}^{\prime}=0 \end{array}\right. $
式(1)中:u'为流体速度矢量;t为时间;ρ为流体密度;p为流体内的压力;μ为流体的运动黏度;f为作用在流体上的体积力矢量; $\nabla$为向量微分算子。
将纳维-斯托克斯(Navier-Stokes)的偏微分方程和海扁虫的流体运动相结合,便可以得到两种新的运动微分方程:第一个方程是动量方程,描述了流体速度随时间的变化,以及由于速度场内部变化、压力梯度和黏性效应而产生的加速度;第二个方程是连续性方程,能够确保流体的质量守恒,对于不可压缩流体,流体的散度为零。
选择二维不可压缩的动量方程,可以方便研究低速流动、涡流和层流等现象,对于研究海扁虫推进时产生的局部流场细节,二维不可压缩模型能够很好地捕捉这些关键现象。海扁虫波形的二维不可压缩方程表述如下。
u t+u u x+v u y=- 1 ρ p x+v 2 u x 2 + 2 u y 2+fx
v t+u v x+v v y=- 1 ρ p y+v 2 v x 2 + 2 v y 2+fy
式中:uv为流体在xy方向上的速度分量;fxfy分别为作用在流体上的体积力在xy方向上的分量。
通过分析图1发现,海扁虫推力系数(CT)、升力系数(CL)和摩擦阻力系数(CDf)之间存在着对应的关系。假设升力等于物体质量,这种关系就可以转换为比例关系,其关系表述为
CT=λ1CDf+λ2CL
式(4)中:λ1λ2为比例常数,取决于海扁虫的运动模式和流体动力特性。
Liu等[13]采用了SST k-ω模型来模拟海底河道或斜坡上自由地表流的湍流模型,发现该模型在捕捉细微的流体动力学特征方面表现出色,有助于提高模拟的稳定性和效率。Karim等[14]利用SST k-ω模型来分析水下仿生体的阻力减小问题,分析了在仿生体边界层内引入空气喷射对阻力的影响,证明了其在处理复杂流动中的有效性。可以看出,SST k-ω湍流模型结合了k-ε模型和k-ω模型的优点,适用于海扁虫的流动分离和附着流动的计算。因此,使用SST k-ω湍流模型来分析胸鳍涡量的分布和演化[15]
湍动能方程(k方程):
D k D t=Pk-βkω+ x i ( μ + σ k μ t ) k x i
湍动能耗散率方程(ω方程):
D ω D t ω kPk-βω2+ x i ( μ + σ ω μ t ) ω x i
式中: k为湍动能;ω为湍动能耗散率;Pk为湍动能生成项,Pk=μt u i x j + u j x i u i x j,uiuj为速度场的分量,xixj为空间坐标;μt为湍流黏度,μt=ρCμ k ω;αβσkσωCμ为模型常数。
海扁虫通过身体的波动产生推进力, 这一推进力是由湍流与表面相互作用产生的摩擦力提供的。假设推进力F与湍动能k和湍流黏性μt之间的关系可以表示为
F=t u i x j + u j x i
式(7)中:A为作用在海扁虫表面上的面积。
从式(7)可以看出,海扁虫的湍动能越大,湍流黏性越高,产生的推进力也越大。
因海扁虫自身结构的特殊性,将海扁虫胸鳍简化为由NACA0012翼型连接的一体化结构,选用这种低速翼型作为胸鳍,能为仿生海扁虫在水中提供较高的升力系数和较低的阻力系数,更加还原了其胸鳍在水中的自由摆动[16]。为了能更方便地研究在不同的速度、迎角和雷诺数下NACA0012翼型的流场特性,通过MATLAB将海扁虫的胸鳍用线性插值表示了出来,如图2所示。
在确定以NACA0012翼型作为海扁虫的胸鳍研究简化对象后,在实验时需要注意以下几点[17]
摆动周期:摆动周期决定了海扁虫胸鳍在单位时间内摆动的次数。周期越短,摆动频率越高,流体与胸鳍的相互作用的时间变化就越快,这通常会导致涡流的更快生成和脱落。
涡流的生成:在每个摆动周期开始时,胸鳍加速移动造成流体速度的局部变化,这可能导致流体从胸鳍表面分离,形成启动涡。当翼型改变方向或减速时,可能会在另一侧形成相对的涡旋。
涡流的脱落:随着摆动周期的继续,累积的涡流能量增加,最终导致涡旋从胸鳍表面脱离,形成下游的涡街,涡街的形成和间隔直接受到摆动频率的影响。
利用时间平均的Navier-Stokes动量方程以及RANS模型来模拟流场,但是传统的RANS模型对仿生海扁虫周围的涡生成、涡脱落以及涡动对物体动力特性的捕捉不够明显,需要配合着LES(大涡模拟)使用才能达到更好的效果。
为了能更准确地预测流体流动中的剪切流、回流和涡旋,Realizable k-ε的湍流模型简化如下。
湍动能k的输运方程:
( ρ k ) t+ ( ρ k u j ) x j= x j μ + μ t σ k k x j+Pk-ρε
湍流耗散率ε的输运方程:
( ρ ε ) t+ ( ρ ε u j ) x j= x j μ + μ t σ ε ε x j+C1ε ε kPk-C2ερ ε 2 k
式(9)中:C1εC2ε为常数;σε为湍流耗散率。
亚格子应力Tsgs的模型是大涡模拟(large eddy simulation,LES)中的关键组成部分,它代表了由于网格分辨率限制而未被直接解决的小尺度涡旋对流动的影响,其中使用的Smagorinsky模型表示为
Tsgs- 1 3δijTkk=-2vtSij
vt= ( C s Δ ) 2 S
$\boldsymbol{S}_{i j}=\frac{1}{2}\left[\nabla \boldsymbol{U}+(\nabla \boldsymbol{U})^{\mathrm{T}}\right] $
式中: Tsgs为应变产生的涡旋应力;Tkk为湍流的动力学量;vt为亚格子黏性;Δ为滤波宽度;Cs为Smagorinsky模型常数;S为过滤应变率张量;U为流体的速度。
使用Simple算法,利用其对压力-速度耦合方法,处理仿生海扁虫在不可压缩流体的Navier-Stokes方程。该方法能够通过利用压力场来计算速度场,然后根据速度场的求解来修正压力场,这个过程迭代进行,直至收敛。同时配合Rhie-Chow插值方法进行修正,能够解决Simple算法中可能出现的压力-速度假耦合问题。
在计算域的流入边界和开放边界中,为了确保边界条件不会影响涡街的形成和发展,因此在模拟中设置流体的计算域为Lx=8.0 m和Ly=2.0 m,设置的每个时间点代表了在一个周期T里,不同瞬间海扁虫胸鳍的流体运动状态如图3所示。
因海扁虫的特殊运动方式,导致了它在游动时可能会发生胸鳍网格的变形或滑动。针对这种问题,通过使用网格的平滑化和再生技术,生成了能够自适应胸鳍摆动周期的网格,保证了更高的网格质量(图4)。这种网格块的动态细化技术在进行数值网格计算时,能够基于笛卡尔坐标系生成适应复杂几何形状的网格[18]。同时能采用自适应算法绘制出胸鳍交接轮廓的数值几何模型,并自动描绘出海扁虫胸鳍轮廓,判断胸鳍边界与流体间隙。在胸鳍头部、尾部和周边建立体积控制区域网格加密,通过网格切片计算得出合适的网格数(图5)。
观察图5可以知道,当网格单元数量从400万增加到650万时,流体的阻力系数下降了12%,而升力系数提升了1.7%,并且涡量的强度有了显著的增长,达到了83%。然而,在网格单元数从650万增至850万时,阻力系数的下降趋于平稳,仅减少了2.4%,升力系数几乎保持不变,微降了0.02%,同时涡量强度显著减少,降幅达到87%。这些观察结果指出,在650万网格单元的条件下进行的模拟计算足以达到网格独立性的要求,表明此时模拟结果对网格细化的敏感性较低,不会随着网格数的增加而显著改变,确保了计算结果的可靠性。
图6为海扁虫在雷诺数Re=1.05×105,摆动频率为f=0.6 Hz,摆幅A=0.7 m,波长λ=2.5 m情况下,一个运动周期中3个时段所产生的涡量云图。图中胸鳍摆动后产生的涡流能够在推进海扁虫向前游动的同时产生反卡门涡街。在胸鳍开始摆动时(t=T/8),涡是连续且狭长的“S”形,且摆动频率大于游动速度比波长,即胸鳍能够产生向后的涡流(反卡门涡街);在海扁虫行进的途中(t=T/2、t=7T/8),涡向后消散,形状也逐渐变为“逗号”形状,当摆动频率小于游动速度与波长的比值时,胸鳍摆动会产生卡门涡街,造成胸鳍尾端流场有动量损失。
图7是在雷诺数Re=1.05×105,摆幅A=0.7 m,波长λ=2.5 m时,海扁虫以不同摆动频率所产生的涡量变化情况。在摆动频率f=1 Hz时,涡量分布显示的是清晰的、有规律的涡流结构,这表示胸鳍摆动产生了稳定且有序的漩涡。在高频摆动下,这些涡流会增加流体的混合并促进动力传递[19]。当f=0.5 Hz时,随着频率减半,涡旋的大小和分布变得无序,漩涡之间的相互作用导致能量传递减少,同时流体的动力特性也发生了变化。最后在f=0.2 Hz时,胸鳍的涡量分布变得更加分散和无序,涡旋结构变得更大,且数目减少。这意味着在低频率摆动下,流体动力效应变弱,会对推进效率产生负面影响。因此,高频率的摆动会生成更多小的涡旋,会产生更高的能量耗散,降低推进效率;而较低频率会产生较大的涡旋,这些涡旋能够在水中传播较远的距离,提供更有效的推力。
图8为海扁虫胸鳍压强随时间变化图,参数与图7相同。在t=T/8阶段,胸鳍刚开始向上运动,胸鳍压强分布较为均匀,实线和虚线环绕在胸鳍的前端和尾端,表明这些区域是压强较高和较低的区域。根据伯努利原理,流体速度在胸鳍上表面会更高,这种压强差就是推动流体产生升力的初期阶段。当t=3T/8时,随着胸鳍运动进入中期,胸鳍压强分布出现更明显的变化,胸鳍的尾端附近压强显示了不均匀分布,这时胸鳍正在产生最大的升力。当t=1T时,此时胸鳍接近于完成整个拍打周期,准备开始下一个周期的运动。压强分布显示了一些封闭的等压线在胸鳍的下方,这与产生推进力的涡旋脱落有关。整个周期中,胸鳍的运动导致了周围流体压强的周期性变化,这些变化是流体推动胸鳍前进的直接结果。实线和虚线的变化反映了不同区域的压强高低,从而推断出流体的运动规律和胸鳍的运动效率[20]
在测试了多组海扁虫流动仿真模拟数据后,通过划分稳流、紊流以及不同的流体分离条件,得到了海扁虫在游动时升力系数随时间的变化,如图9所示。在紊流条件1的情况下,流体环境相对稳定,给定的流体密度为1 030 kg/m3。在这一条件下,海扁虫的升力系数在开始时维持在较低水平,随后逐渐上升,大约在2 s时达到峰值,之后又有所下降,表明了海扁虫在更高的流体密度情况下,可以维持较稳定的流动,减少了流体分离和湍流的影响。而在紊流条件2的情况下,给定的流体密度降低为1 000 kg/m3,其产生的升力系数较低,整体波动较小,表明了较低的密度可能会导致流体动力反应更加敏感,容易受到周围条件的影响,从而产生较大的升力波动。在流体分离条件1的情况下,设置雷诺数为0.95×105,观察发现海扁虫的升力系数波动较大,中间阶段与分离涡的过程有关;在另一种流体分离条件下,设置雷诺数为1.05×105,海扁虫的升力系数经历了显著的起伏,尤其在2 s后的降低表明发生了剧烈的流体分离现象,证明了在不同雷诺数情况下对海扁虫在深海区的稳定性和推进效率影响存在差异。
总结4条折线的分布动态,能够推断出紊流条件下,尽管升力系数表现出的波动很大,但海扁虫仍能在这种复杂的水流环境中有效游动,表明它们具备高度的适应性和灵活性。其在紊流中可以通过调整体型或运动模式来应对不断变化的流动压力和方向。而升力系数的剧烈波动表明海扁虫有能力改变身体形态或运动节奏来适应流体环境的变化,以减少流体分离对其游动效率的负面影响。
为了突出海扁虫胸鳍在海底运动的优越性,以海扁虫为参考,比较其和鳐鱼、牛鼻鲼这2种不同胸鳍形状的鱼类,在水温0 ℃,压强2×104 kPa相同工况下胸鳍的运动情况,对比实验参数设计如表1所示,并通过图10分别展示了其各自的水动力性能。
图10给出了3种鱼类通过滤波处理后,胸鳍在运动过程中推力和升力的变化关系。3种鱼类的周期性特征均为1.5 s,推力和升力的最大值同时出现,反映了三者以胸鳍(MPF模式)运动在同一位置上的动力学特性。观察图10(a)图10(b)可以发现,海扁虫凭借其较小且扁平的胸鳍,比起其他两种鱼类,能够在一个周期中表现出较小的高频推力波动。拥有较小的摆动角度和较高频率的升力波动,这两种特性带给了其高频波动及灵活转向的能力,能够帮助它在复杂、狭窄的环境中前行。而鳐鱼与牛鼻鲼因他们较大的翼状胸鳍,所以能提供较大的推力和稳定性,呈现的推力与波动频率适中,振幅较大,曲线相对平滑,适合在空旷的环境中游动,不具有和海扁虫一样的灵活性。
通过对海扁虫波动推力的研究,揭示了海扁虫通过胸鳍摆动产生涡流并获得前进动力的机理。得出的主要结论如下。
(1)经过简化处理的海扁虫胸鳍,能通过周期性的翼型摆动,在翼型表面和周围产生涡流。这些涡流沿身体向后滑动,并在尾部脱落,形成反卡门涡街现象。这一现象能够为海扁虫在水中提供稳定的推力,确保其在复杂水流环境中的有效运动。
(2)在摆动频率为1 Hz时,涡流结构清晰,有序排列;但当频率降至0.2 Hz时,涡流结构变得分散无序。通过仿真研究确定了在频率0.6 Hz,波长2.5 m的条件下最优的摆动参数设置。
(3)通过对涡流和压强的分析,发现在一个摆动周期的中期,胸鳍的压强分布变化显著,表现出较高的升力效率,在摆动的最高点时,胸鳍产生了最大的升力,推动海扁虫前进。
(4)与传统的螺旋桨推进器相比,海扁虫的仿生推进方式表现出更好的稳定性和适应性。在雷诺数Re=1.05×105时,海扁虫升力系数变化较为平稳,说明其在高雷诺数下能保持良好的稳定性。这种推进方式能够有效减少流体分离和湍流影响,提高探测效率和运动稳定性。
(5)通过对比海扁虫、鳐鱼和牛鼻鲼在相同工况下的胸鳍运动情况,发现海扁虫的高频波动特性能帮助它在复杂、狭窄环境中表现出更高的灵活性。
  • 国家自然科学基金(52104005)
  • 陕西省自然科学基础研究计划(2021JM-407)
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2025年第25卷第13期
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doi: 10.12404/j.issn.1671-1815.2404454
  • 接收时间:2024-06-14
  • 首发时间:2025-07-09
  • 出版时间:2025-05-08
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  • 收稿日期:2024-06-14
  • 修回日期:2025-01-21
基金
国家自然科学基金(52104005)
陕西省自然科学基础研究计划(2021JM-407)
作者信息
    西安石油大学机械工程学院, 西安 710065

通讯作者:

* 姜海龙(1989—),男,汉族,山东烟台人,博士,副教授。研究方向:石油工程相关渗流力学。E-mail:
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2种不同金属材料的力学参数

Family
属数
Number of
genus
种数
Number of
species
占总种数比例
Percentage of
total species (%)

Genus
种数
Number of
species
占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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