Article(id=1320176838471692480, tenantId=1146029695717560320, journalId=1301849854269554754, issueId=1320176652034880125, articleNumber=null, orderNo=null, doi=10.11729/syltlx20230080, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1686499200000, receivedDateStr=2023-06-12, revisedDate=1699891200000, revisedDateStr=2023-11-14, acceptedDate=1700064000000, acceptedDateStr=2023-11-16, onlineDate=1792684285991, onlineDateStr=2026-10-22, pubDate=1777046400000, pubDateStr=2026-04-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1792684285991, onlineIssueDateStr=2026-10-22, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1792684285991, creator=13701087609, updateTime=1792684285991, updator=13701087609, issue=Issue{id=1320176652034880125, tenantId=1146029695717560320, journalId=1301849854269554754, year='2026', volume='40', issue='2', pageStart='1', pageEnd='124', issueExtLink='null', onlineDate='null', pubDate='1777046400000', pubDateStr='2026-04-25', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1792684241540, creator='13701087609', updateTime=1792684241540, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext=null, issueFiles=null, downloadFileDto=null}, startPage=101, endPage=109, ext={EN=ArticleExt(id=1320176838673019073, articleId=1320176838471692480, tenantId=1146029695717560320, journalId=1301849854269554754, language=EN, title=Research on the vortex dynamics of two-dimensional jellyfish-like flapping wings based on particle image velocimetry, columnId=1301954885767946779, journalTitle=Journal of Experiments in Fluid Mechanics, columnName=Fundamental Research and Application, runingTitle=null, highlight=null, articleAbstract=

As a new type of micro aircraft configuration, the jellyfish-like flying aircraft has the advantages of low noise and flexible maneuvering, which has attracted the attention of the academic community. In this paper, a pair of two-dimensional plates rotating around fixed axes is used as a simplified model of jellyfish-like flapping wings. The disturbed flow fields in static water are measured by the time-resolved particle image velocimetry. By controlling the frequency and angular amplitude of the flapping motion, the influence of the motion parameters on the vortex characteristics and evolution law is studied. The vortex generation, shedding, and interaction processes are analyzed by using the phase average method and the circulation tracking technique. The forming mechanism of thrust is explained from the perspective of vortex dynamics. The experimental results provide certain references for the design of the jellyfish-like flying machines.

, authors=Yuanyuan WANG, Chengyue WANG*, Shanshan MANG, Yunian SHEN, Zhihua CHEN, authorsList=Yuanyuan WANG, Chengyue WANG, Shanshan MANG, Yunian SHEN, Zhihua CHEN, authorCompany=null, correspAuthors=Chengyue WANG, authorNote=null, correspAuthorsNote=null, copyrightStatement=Copyright ©2026 Journal of Experiments in Fluid Mechanics. All rights reserved., 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, fund=null), CN=ArticleExt(id=1320176847317479689, articleId=1320176838471692480, tenantId=1146029695717560320, journalId=1301849854269554754, language=CN, title=基于粒子图像测速的二维仿水母扑翼涡动力学研究, columnId=1301954885923136029, journalTitle=实验流体力学, columnName=基础研究与应用, runingTitle=null, highlight=null, articleAbstract=

仿水母扑翼飞行器是一种新型的微型飞行器,具有噪声小、机动灵活等特点。本文以一对定轴往复转动的二维平板作为仿水母扑翼的简化模型,采用时间解析的粒子图像测速技术测量了静水中二维扑翼的扰动流场。通过控制舵机改变扑翼的拍动周期和拍动角度幅值,研究了扑翼运动参数对流场旋涡特性和演化规律的影响;采用相位平均和环量追踪技术,分析了旋涡生成、脱落及相互作用的演化过程;并且从涡动力学角度解释了推力形成机理。研究结果对仿水母扑翼飞行器设计具有一定参考意义。

, authors=王媛媛, 王成跃*, 莽珊珊, 沈煜年, 陈志华, authorsList=王媛媛, 王成跃, 莽珊珊, 沈煜年, 陈志华, authorCompany=null, correspAuthors=王成跃, authorNote=

王媛媛(1999—),女,河北衡水人,硕士研究生。研究方向:实验流体力学。E-mail:

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E-mail:
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王媛媛(1999—),女,河北衡水人,硕士研究生。研究方向:实验流体力学。E-mail:

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figs=[ArticleFig(id=1320176851536949551, tenantId=1146029695717560320, journalId=1301849854269554754, articleId=1320176838471692480, language=EN, label=Fig.1, caption=Schematic diagram of the experimental setup, figureFileSmall=aMzXALGNAZMB6k/rUNxwfQ==, figureFileBig=vbSBD1EbLM4DNEkfaia1ng==, tableContent=null), ArticleFig(id=1320176851599864112, tenantId=1146029695717560320, journalId=1301849854269554754, articleId=1320176838471692480, language=CN, label=图1, caption=实验装置示意图, figureFileSmall=aMzXALGNAZMB6k/rUNxwfQ==, figureFileBig=vbSBD1EbLM4DNEkfaia1ng==, tableContent=null), ArticleFig(id=1320176851788607793, tenantId=1146029695717560320, journalId=1301849854269554754, articleId=1320176838471692480, language=EN, label=Fig.2, caption=Schematic diagram of the cross-section of the flapping wings, figureFileSmall=B0w1f1bjzWnskgsebFZDSw==, figureFileBig=Tdj5MBc3WCPFNZby2SdIdw==, tableContent=null), ArticleFig(id=1320176851859910962, tenantId=1146029695717560320, journalId=1301849854269554754, articleId=1320176838471692480, language=CN, label=图2, caption=扑翼横截面示意图, figureFileSmall=B0w1f1bjzWnskgsebFZDSw==, figureFileBig=Tdj5MBc3WCPFNZby2SdIdw==, tableContent=null), ArticleFig(id=1320176851914436915, tenantId=1146029695717560320, journalId=1301849854269554754, articleId=1320176838471692480, language=EN, label=Fig.3, caption=The time-averaged flow field from the standard configuration, figureFileSmall=GfaulqIREwN0HD14pp8p6Q==, figureFileBig=hDrzjXdrHEZxA4I14po38w==, tableContent=null), ArticleFig(id=1320176851994128692, tenantId=1146029695717560320, journalId=1301849854269554754, articleId=1320176838471692480, language=CN, label=图3, caption=基准工况下的时均流场, figureFileSmall=GfaulqIREwN0HD14pp8p6Q==, figureFileBig=hDrzjXdrHEZxA4I14po38w==, tableContent=null), ArticleFig(id=1320176852057043253, tenantId=1146029695717560320, journalId=1301849854269554754, articleId=1320176838471692480, language=EN, label=Fig.4, caption= $ \overline{v} $ varying along one 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articleId=1320176838471692480, language=EN, label=Fig.9, caption=Vortex trajectories corresponding to different flapping angle amplitudes, figureFileSmall=tUr1Uy0F9UeZzlI0XLJ4mQ==, figureFileBig=cgg+oQJjgEKZhrmhliOKQw==, tableContent=null), ArticleFig(id=1320176852874932544, tenantId=1146029695717560320, journalId=1301849854269554754, articleId=1320176838471692480, language=CN, label=图9, caption=不同拍动角度的旋涡运动轨迹, figureFileSmall=tUr1Uy0F9UeZzlI0XLJ4mQ==, figureFileBig=cgg+oQJjgEKZhrmhliOKQw==, tableContent=null), ArticleFig(id=1320176852942041409, tenantId=1146029695717560320, journalId=1301849854269554754, articleId=1320176838471692480, language=EN, label=Table 1, caption=

The collection of parameters for different experimental configurations

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工况序号工况名称雷诺数
Re
时间不对称
系数R
拍动周期
T/s
拍动角度
A/(°)
采样频率
f/Hz
记录时长中包含的
扑翼拍动周期 × 组数
1A90–T4–R222062.0490508 × 2
2A90–T4–R122061.0490508 × 2
3A90–T8–R211032.0890504 × 2
4A60–T4–R233092.0460508 × 2
5A90–T4–R0.522060.5490508 × 2
6A90–T2–R244122.02901008 × 2
), ArticleFig(id=1320176853013344578, tenantId=1146029695717560320, journalId=1301849854269554754, articleId=1320176838471692480, language=CN, label=表1, caption=

实验工况

, figureFileSmall=null, figureFileBig=null, tableContent=
工况序号工况名称雷诺数
Re
时间不对称
系数R
拍动周期
T/s
拍动角度
A/(°)
采样频率
f/Hz
记录时长中包含的
扑翼拍动周期 × 组数
1A90–T4–R222062.0490508 × 2
2A90–T4–R122061.0490508 × 2
3A90–T8–R211032.0890504 × 2
4A60–T4–R233092.0460508 × 2
5A90–T4–R0.522060.5490508 × 2
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基于粒子图像测速的二维仿水母扑翼涡动力学研究
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王媛媛 , 王成跃 * , 莽珊珊 , 沈煜年 , 陈志华
实验流体力学 | 基础研究与应用 2026,40(2): 101-109
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实验流体力学 |基础研究与应用 2026 , 40 (2) : 101 -109
基于粒子图像测速的二维仿水母扑翼涡动力学研究
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王媛媛 , 王成跃* , 莽珊珊, 沈煜年, 陈志华
作者信息
  • 南京理工大学 物理学院, 南京 210094
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作者简介:

王媛媛(1999—),女,河北衡水人,硕士研究生。研究方向:实验流体力学。E-mail:

Research on the vortex dynamics of two-dimensional jellyfish-like flapping wings based on particle image velocimetry
Yuanyuan WANG , Chengyue WANG* , Shanshan MANG, Yunian SHEN, Zhihua CHEN
Affiliations
  • School of Physics, Nanjing University of Science and Technology, Nanjing 210094
出版时间: 2026-04-25 doi: 10.11729/syltlx20230080
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仿水母扑翼飞行器是一种新型的微型飞行器,具有噪声小、机动灵活等特点。本文以一对定轴往复转动的二维平板作为仿水母扑翼的简化模型,采用时间解析的粒子图像测速技术测量了静水中二维扑翼的扰动流场。通过控制舵机改变扑翼的拍动周期和拍动角度幅值,研究了扑翼运动参数对流场旋涡特性和演化规律的影响;采用相位平均和环量追踪技术,分析了旋涡生成、脱落及相互作用的演化过程;并且从涡动力学角度解释了推力形成机理。研究结果对仿水母扑翼飞行器设计具有一定参考意义。

仿生扑翼  /  二维平板  /  旋涡特性  /  粒子图像测速

As a new type of micro aircraft configuration, the jellyfish-like flying aircraft has the advantages of low noise and flexible maneuvering, which has attracted the attention of the academic community. In this paper, a pair of two-dimensional plates rotating around fixed axes is used as a simplified model of jellyfish-like flapping wings. The disturbed flow fields in static water are measured by the time-resolved particle image velocimetry. By controlling the frequency and angular amplitude of the flapping motion, the influence of the motion parameters on the vortex characteristics and evolution law is studied. The vortex generation, shedding, and interaction processes are analyzed by using the phase average method and the circulation tracking technique. The forming mechanism of thrust is explained from the perspective of vortex dynamics. The experimental results provide certain references for the design of the jellyfish-like flying machines.

bionic flapping wings  /  two-dimensional flat plate  /  vortex characteristics  /  particle image velocimetry
王媛媛, 王成跃, 莽珊珊, 沈煜年, 陈志华. 基于粒子图像测速的二维仿水母扑翼涡动力学研究. 实验流体力学, 2026 , 40 (2) : 101 -109 . DOI: 10.11729/syltlx20230080
Yuanyuan WANG, Chengyue WANG, Shanshan MANG, Yunian SHEN, Zhihua CHEN. Research on the vortex dynamics of two-dimensional jellyfish-like flapping wings based on particle image velocimetry[J]. Journal of Experiments in Fluid Mechanics, 2026 , 40 (2) : 101 -109 . DOI: 10.11729/syltlx20230080
仿生扑翼飞行器具有噪声小、机动灵活等特点,在航空拍摄、野生动植物勘测等领域具有重要的应用价值。国内外学者对仿生扑翼飞行器已开展了数十年研究,对各种仿生扑翼飞行器的气动特性及流动机理取得了一定认识。
常见仿生扑翼飞行器主要分为仿鸟类扑翼飞行器和仿昆虫类扑翼飞行器。鸟类扑翼以上下运动和俯仰运动为主,利用自由来流在扑翼上下表面产生压差,从而产生升力。仿鸟类扑翼飞行器主要适用于前飞和滑翔状态,悬停能力较差。昆虫则通过高频扑动翼面产生足够升力,飞行模式较鸟类更为复杂[1]。研究发现昆虫飞行主要有3种模式:翼面在水平面内前后运动的升力模式,即常规模式[2];翼面在垂直面内上下运动的阻力模式;在倾斜面内往复运动的混合模式。这3种飞行模式分别对应3种高升力机制:前缘涡延迟失速机制[3]、尾迹捕获机制[4]和快速翻转机制[5]。
国内学者针对扑翼飞行器参数设计及流体力学机理开展了研究。兰世隆和孙茂[6-8]通过数值模拟研究了昆虫做非定常运动时的气动力特性,提出了昆虫飞行产生高升力的3种机制。陈利丽[9]和李占科[10]等对柔性翼进行了数值模拟,分析了惯性力和运动参数对扑翼气动特性的影响。赵钟[11]和Zhang[12]等使用动态混合网格生成技术对两段翼鸟类翅膀扑动模型进行了初步研究,探究了鸟类飞行过程中升力的影响因素。曾锐和昂海松[13]采用高速摄像手段对绿头鸭扑翼升力系数受扑动频率、俯仰角度的影响进行了研究。
传统的仿生扑翼飞行器仍面临升阻比低、气动不稳定及易受环境影响等问题,各项性能受到了限制。受水母运动启发,Ristroph和Childress[14]设计了一款仿水母扑翼装置。该装置整体构型和运动方式与水母类似,仅需通过控制电机带动连杆机构打开和关闭翼面(翼面由4个水滴形柔性薄板组成),即可实现上升、悬停和下降,无需额外飞行舵面或飞行控制系统,实现了无反馈稳定飞行,为扑翼飞行器设计提供了新思路。Fang等[15]采用“涡量层”方法对该装置进行了研究,发现其升力效率随扑翼间距减小而增大,较低的重心位置更有利于扑翼的稳定性。Zhang等[16]采用数值模拟方法研究了该装置的姿态稳定性、在不同运动状态下对数值扰动的响应,以及升力产生机理。
实验也是揭示扑翼非定常推力和流动特性的有效手段。Liu等[17]将Ristroph和Childress[14]的仿水母扑翼简化为一对水滴形薄板扑翼,采用二维粒子图像测速技术研究了扑翼尾部涡结构流动特性和扑翼推力特性,重点探究了非对称运动的影响。其研究结果表明:与对称拍动相比,快速下拍、缓慢上拍的拍动形式更有利于产生推力。该研究为高推力微型扑翼飞行器设计提供了依据。然而,由于其实验研究采用了三维翼型,扑翼扰动流场的三维性和非定常性较强,基于二维实验数据分析难度较大。
为进一步探索仿水母扑翼推进的相关机理,揭示时间不对称系数、扑翼拍动周期及拍动角度范围对仿水母扑翼动力学特性的影响,本文以定轴转动的一对二维平板作为仿水母扑翼的简化模型,采用时间解析的粒子图像测速技术研究静水中的扑翼扰动流场,采用相位平均和环量追踪技术定量研究旋涡运动规律,揭示扑翼推力和旋涡运动的关系。
实验在350 mm (长)× 300 mm(宽) × 250 mm(厚)的亚克力水缸中开展。实验平台主要由仿水母扑翼模型、运动控制系统和粒子图像测速系统等组成,如图1所示。
扑翼模型由一对150 mm(长) × 50 mm(宽) × 2 mm(厚)的亚克力平板组成。平板一端均与直径为8 mm的圆柱形转轴连接。转轴由不锈钢加工制成,表面喷涂黑色哑光漆以抑制反光。为便于安装,转轴与平板连接段的截面为半圆形,如图2所示(图2为图1的俯视图)。2根转轴分别与上方2台舵机连接,2台舵机通过同一个Arduino控制板的不同输出端口进行控制,以保证舵机转动的同步性。
为保证扑翼诱导流动的二维性,本文采用了较长的扑翼模型。在扑翼运动平面内,水缸尺寸为扑翼模型弦长的6~7倍,壁面影响较小,可视为无限大水域。实验中,一对翼面分别绕各自转轴在一定角度范围内往复运动,类似仿水母扑翼的运动过程。扑翼运动过程中的弹性变形可以忽略,即将该过程视为刚性旋转。图2给出了x轴和$ y $轴方向,O1和O2分别为2根转轴中心的位置,2根转轴中心的距离d = 25 mm,α为扑翼与y轴夹角,c为翼尖到转轴中心的距离,坐标原点O位于O1O2的中点。
需要指出的是,本文采用的扑翼运动方式与真实水母运动存在一定差异。本文研究主要针对Ristroph和Childress[14]设计的仿生扑翼装置,所采用的双扑翼模型更接近Liu等[17]的模型。为便于开展实验研究,以一对定轴转动的平板作为扑翼装置简化模型。该模型能够生成较为稳定的二维分离流动,既能保留扑翼分离流动的一般特点,又适于进行二维粒子图像测速。
扑翼运动分为上拍阶段和下拍阶段,Tdown为下拍阶段时间,Tup为上拍阶段时间。定义时间不对称系数R = Tup/Tdown,扑翼拍动周期T = Tdown + Tup。本文在扑翼拍动角度A = 90°和60°下开展实验研究,前者对应α = 0°~90°,后者对应α = 15°~75°。
本文通过图像识别确定扑翼初始运动时刻,再根据相机记录的时间间隔推算各时刻扑翼位置。为便于区分上拍和下拍状态,同时为不同工况实验结果的比较提供参照,定义扑翼瞬时拍动角$\theta $为:
$ \theta\left(t\right)=\left\{\begin{array}{l}\alpha-\alpha_0,\; 下拍 \\ 2A-(\alpha-\alpha_0),\; 上拍\end{array}\right. $
式中:t为持续时间;α0为扑翼拍动角度范围的下限。归一化的相对拍动角$ \widehat{\theta } $ $=\theta /\left(2A\right) $。
实验工况如表1所示。每组实验包含6种工况,工况1为基准工况,在工况1基础上改变单一控制参数形成其他工况。本文主要研究时间不对称系数、扑翼拍动周期和角度范围等控制参数的影响,雷诺数Re范围为1103~4412(Re = urc/ν,ur为翼尖平均线速度,ν为运动黏度)。
为保证数据分析时统计结果的收敛性,在每组工况下重复开展2次实验。除工况3外,每次实验记录时长中包含8个拍动周期,每个工况可测得16个周期的速度场数据。2组实验数据一致性较好,证明了实验的可重复性。本文第2~4节将基于2组实验数据对流场和旋涡特征进行统计分析。
通过二维粒子图像测速系统测量扑翼扰动流场。该系统由高速相机、连续激光器和控制计算机等组成。实验开始前,在水缸中播撒玻璃空心微珠(直径5~10 μm、密度1.05 × 103 kg/m3)作为示踪粒子。连续激光器(功率5 W)布置于水缸一侧,垂直水缸侧壁发射波长532 nm的片状光,沿水平方向照亮测量区域。通过MEMRECAM GX–8高速相机(全画幅,1152像素 × 1024像素,最高采样频率1 kHz)记录示踪粒子图像。实验时相机布置于激光器下方,通过水缸底部45°倾斜放置的反光镜采集激光照亮区域粒子图像。相机前配备50 mm焦距镜头,成像放大系数由图像标定得到,为0.195 mm/像素。
实验采集的粒子图像通过2次变窗口互相关计算进行处理。第一次互相关计算采用的窗口尺寸为64像素 × 64像素,窗口重叠率75%,计算结果作为第二次互相关计算的窗口预偏置位移。第二次互相关计算采用的窗口尺寸为32像素 × 32像素,窗口重叠率75%。为提高计算效率,采用快速傅里叶变换进行加速。互相关计算后,使用中值检测方法辨识速度场中的坏矢量,进行坏矢量剔除和插值替换。本文实验中,速度场剔除的坏矢量比例低于5%。最终得到的速度场包含124 × 124个速度矢量,相邻2个速度矢量空间间隔1.56 mm,约为扑翼弦长的3%。
本文以u和v分别表示水平和竖直方向速度分量,以ω表示涡量。
本节基于时间平均速度研究运动参数对扑翼的影响。图3为基准工况(工况1)下的时间平均流场分布,图中$ \bar{\omega } $为时间平均涡量,$ \bar{v} $为时间平均的竖直速度分量。
从图3(a)可以看出,扑翼诱导的流动主要分布于扑翼运动范围附近。在y/c = −1处,观察到2个反向旋涡结构。2个旋涡在中部诱导向上的流动,在两侧诱导向下的流动。图3(b)更清晰地展示了竖直方向的流动速度分布:在0.5 ≤ |x/c| < 1.0范围内,存在较强的下洗流动;在−0.5 < x/c < 0.5范围内,存在一定强度的上洗流动;下洗流动的区域和强度明显大于上洗流动。根据动量守恒定律,下洗流动与扑翼推力直接相关:下洗流动越强,扑翼推力越大。因此,图3表明工况1下的扑翼运动具有正的平均推力。
为研究不同参数对扑翼推力的影响,本文提取了不同工况下y/c = −1.2处的时间平均速度,结果如图4所示。图4(a)~(c)分别展示了时间不对称系数、拍动周期和拍动角度的影响。通过对比可以发现:虽然时间不对称系数、拍动周期和拍动角度不同,但时间平均速度曲线趋势类似,都具有1个峰值、2个谷值;时间不对称系数越大,谷值绝对值越大,谷底间距越小,可以推测扑翼推力越大。一般而言,拍动周期长短(即拍动快慢)对时间平均速度和推力都有较大影响,但从图4(b)可以看出,拍动周期对无量纲速度的影响较小,表明其对推力系数影响较小。扑翼拍动角度范围变化对速度曲线峰值及谷值影响不大,对下洗和上洗流动宽度的影响较大。A = 90°的下洗流动宽度明显大于A = 60°,上洗流动宽度明显小于A = 60°,表明较大的拍动角度范围会带来更大的推力。
扑翼扰流呈现明显的周期性演化特征,因此本文采用相位平均技术对流场进行处理,提取特定相位下的平均速度场。以扑翼瞬时拍动角θ(t)为参照,将拍动角处于基准拍动角θ0 ± A/30范围内的速度场进行平均,得到θ0对应的平均速度场$ \left\langle{{u}}\right\rangle $。对相位平均的速度场求旋度,即可得到相位平均的涡量场$ \left\langle{{ω}}\right\rangle $。
图5为基准工况下相位平均的涡量演化过程,由图5可以直观地观察到旋涡的流动情况。图(a)~(d)分别对应基准拍动角θ0 = 45°、90°、135°、180°的结果,图(a)和(b)为下拍阶段,图(c)和(d)为上拍阶段。
从图5可以看到:扑翼下拍阶段和上拍阶段分别在上翼面和下翼面附近形成2对旋涡。将2个涡对分别命名为Vdown和Vup。扑翼下拍时,Vdown跟随翼尖向下运动,尺寸和强度增大;在扑翼下方,还可以看到上一拍动周期扑翼上拍时形成的Vup(记为V'up);V'up向扑翼外侧运动,与Vdown相互靠近,两者相互诱导形成指向斜下方的射流,如图5(a)所示。扑翼继续下拍,V'up被卷入Vdown,继而消失,Vdown与翼尖分离并继续向下运动;Vdown分离后,翼尖上仍有剪切层脱落,在Kelvin–Helmholtz不稳定性作用下,形成一系列小尺度旋涡,如图5(b)所示。
扑翼上拍时,Vup附着于下翼面,尺寸和强度不断增大;左右2个Vup相互诱导,在旋涡之间形成向上的射流,如图5(c)所示。Vup继续沿下翼面向外侧运动,与Vdown不断靠近,两者相互诱导形成向下的射流(与Vdown不同的是,Vup在y方向的位置基本保持不变);Vup与翼面分离后,强度开始减小,但在下个周期开始时,未完全消失,如图5(d)所示。
综上所述,当Vdown和Vup相互靠近时,就会在中间诱导形成下洗流动,这对扑翼推力的形成具有重要影响。因此,研究旋涡运动轨迹并在此基础上研究旋涡相互作用,对揭示扑翼推力的形成机理,以及探究不同运动参数对推力的影响规律具有重要意义。
为了研究旋涡的运动规律,本文采用环量追踪技术提取了旋涡运动轨迹,分析了旋涡强度随时间的演化规律。首先,采用λci准则辨识相位平均流场中的旋涡结构(λci准则是一种常用旋涡识别准则[18-19],定义为速度梯度张量复特征值的虚部)。然后,通过λci > λci,thresh识别旋涡涡核区域Ω,λci,thresh为旋涡边界识别的阈值。经过测试,本文采用λci,thresh = 1 s−1,该阈值能够很好地分割不同的旋涡区域,且受背景噪声的影响较小。识别旋涡边界后,通过二维积分计算涡核区域的几何中心和涡核内的环量:
${x}_{\mathrm{c}}=\frac{\underset{{\varOmega }}{\overset{}{\displaystyle\iint }}{\lambda }_{\mathrm{c}\mathrm{i}}(x,y)x\mathrm{d}x\mathrm{d}y}{\underset{{\varOmega }}{\overset{}{\displaystyle\iint }}{\lambda }_{\mathrm{c}\mathrm{i}}(x,y)\mathrm{d}x\mathrm{d}y} $
$ {y}_{\mathrm{c}}=\frac{\underset{{\varOmega }}{\overset{}{\displaystyle\iint }}{\lambda }_{\mathrm{c}\mathrm{i}}(x,y)y\mathrm{d}x\mathrm{d}y}{\underset{{\varOmega }}{\overset{}{\displaystyle\iint }}{\lambda }_{\mathrm{c}\mathrm{i}}(x,y)\mathrm{d}x\mathrm{d}y}$
$ {\text{Γ}}=\underset{{\varOmega }}{\overset{}{\iint }}\omega (x,y)\mathrm{d}x\mathrm{d}y$
式中:xc和yc为旋涡中心坐标,Γ为旋涡环量。
对不同相位流场中的旋涡进行追踪,得到了旋涡中心位置及环量随相对拍动角的变化曲线。图6为环量追踪结果。其中,图6(a)为λci云图,图中以红色圆点表示采用上述方法提取的旋涡中心位置,以圆点相对大小表示旋涡环量大小。与文献[17]相比,本文采用二维扑翼模型,扑翼诱导流动的周期性更好,旋涡结构和运动轨迹更加规则。为便于区分旋涡方向,本文采用与Liu等[17]类似的方式,将$〈 \omega 〉$的正负号赋给λci,即云图颜色表示λci$〈 \omega 〉 $/|$〈 \omega 〉 $|。从图6(a)可以看出,所有圆点均位于旋涡中心,说明本文采用的环量追踪方法能够有效提取涡核的中心。
图6(b)和(c)分别给出了1个拍动周期内、2对主要旋涡Vdown和Vup的环量随相对拍动角的变化曲线,横坐标为扑翼的归一化相对拍动角$ \widehat{\theta } $,纵坐标为相位平均环量$〈{\text{Γ}}\,〉 $。从图中可以看出:在下拍阶段,Vdown的环量先迅速增大,在$ \widehat{\theta } $ $=0.3 $对应时刻达到相对稳定,随后迅速下降;在上拍阶段,Vup的环量迅速增大,在$ \widehat{\theta } $ $=0.75 $对应时刻达到峰值后迅速减小。图6反映的旋涡环量演化过程与图5云图一致。
为了研究时间不对称系数对旋涡运动规律的影响,给出了3个时间不对称系数(工况1、2、5)下的旋涡运动轨迹,如图7(a)~(c)所示。图中不同拍动角度下2对主要旋涡Vdown和Vup的位置以圆点表示,圆点面积大小与旋涡环量大小成正比,圆点颜色表示相对拍动角$ \widehat{\theta } $。图7很好地反映了2个主要旋涡的运动轨迹及旋涡环量随时间的演化过程。
图7(a)为基准工况下2个主要旋涡的运动轨迹:Vdown主要沿竖直方向运动,Vup主要沿水平方向运动;V'up(即上一拍动周期的Vup)运动轨迹与Vup一致,均沿水平方向。圆点面积大小变化反映了2个主要旋涡的环量演化过程,这与图5、6结果一致。
对比图7(a)~(c)可以发现,时间不对称系数对旋涡环量大小及运动轨迹影响较大:时间不对称系数越大,相同时刻的Vdown和Vup水平距离越近,这可能会使Vdown和Vup相互诱导时产生更有利于增大扑翼推力的射流;时间不对称系数越大,Vdown向下运动范围越大(R = 2.0时,Vdown运动范围为−2 < y/c < 0;R = 0.5时,Vdown运动范围为−1< y/c < 0,减小了50%)。此外,扑翼下拍越快,Vdown环量越大,旋涡强度越大,也会使Vdown和Vup互相诱导时产生更大的射流,从而更有利于产生推力。
为研究拍动周期对旋涡运动轨迹的影响,给出了不同拍动周期下(工况1、3、6)的旋涡运动轨迹,如图8所示。从图中可以发现,拍动周期对Vdown轨迹影响较小,对Vup轨迹影响较大:T = 8 s和4 s时,Vup运动轨迹仍主要沿水平方向;T = 2 s时,Vup运动轨迹呈上扬趋势。拍动周期对旋涡强度的影响更为明显,随着拍动周期减小(即拍动速度加快),旋涡强度明显增大。在瞬时流场中可以看到,扑翼拍动过快,扑翼下方会产生不规则旋涡运动,流场较紊乱。
为研究拍动角度对旋涡运动规律的影响,图9给出了A = 90°和A = 60°工况(工况1、4)下的旋涡运动轨迹。从图中可以看到:A = 90°时,2个Vdown在向下运动的同时距离逐渐减小;A = 60°时,2个Vdown的间距先减小后增大,随后又缓慢减小,轨迹曲线呈“S”形。拍动角度越大,旋涡环量越大,旋涡运动范围越大。例如,A = 90°时,Vdown的运动范围为−1.8 < y/c < −0.2;A = 60°时,Vdown的运动范围为−1.6 < y/c < −0.4,减小了25%。旋涡在y方向运动范围的增大,会促进y方向的动量输运,更有利于产生扑翼推力。
本文以定轴转动的一对二维平板作为仿水母扑翼的简化模型,采用时间分辨的二维粒子图像测速技术测量了静水中的二维扑翼扰动流场。基于相位平均和环量追踪技术,研究了时间不对称系数、扑翼拍动周期及拍动角度范围对流场旋涡特性和演化规律的影响,得到如下结论:
1)增大时间不对称系数或扑翼拍动角度范围都能够增强下洗流动,从而增大扑翼推力。拍动周期对无量纲的竖直方向速度影响较小,表明其对推力系数影响较小。
2)从涡动力学角度而言,旋涡环量增大、旋涡运动范围增大、Vup–Vdown诱导射流增强是引起扑翼推力增大的3个主要因素。扑翼拍动周期和拍动角度范围分别通过第1个因素和前2个因素影响扑翼推力,而时间不对称系数对3个因素均有影响,是增大扑翼推力更有效的方式。

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doi: 10.11729/syltlx20230080
  • 接收时间:2023-06-12
  • 首发时间:2026-10-22
  • 出版时间:2026-04-25
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  • 收稿日期:2023-06-12
  • 修回日期:2023-11-14
  • 录用日期:2023-11-16
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    南京理工大学 物理学院, 南京 210094

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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
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