基于续航能力的仿生水下航行器设计及实验

SPC3-UUV机器鱼是在北航SPC-2仿生机器鱼UUV平台基础上经过优化改进,为提高推进效率和续航力专门研制的水下仿生航行器实验平台.通过在泳池静水中对平台的摄像机测速观测实验和功率数据采集计算机的记录,得到SPC3-UUV速度-频率,功率-频率特性曲线,由航程估算,得到该平台在不同的拍动频率下续航时间以及估算航程,同时以平台速度和续航能力为评价原则选择了长航程实验的推进频率,范围定为1.5~1.6Hz,并在北戴河长航程实验中得到了验证.SPC-3 UUV航程达到22.761km,续航时间6.25h,平均航速1.03m/s.

Design and experiment of a underwater vehicle based on capacity of voyage

The SPC-3 UUV prototype is an experimental platform which is especially designed to improve efficiency of propulsion and capacity of voyage based on the SPC-2 UUV robofish by Beijing University of Aeronautics and Astronautics.Based on the record of data collection computer and cameral which is used to measure the speed of SPC-3 UUV in the swimming pool,the speed-frequency and power-frequency curve were founded.After the estimating the capacity of voyage,the voyage time and voyage on condition of different frequency were calculated,the propulsion frequency could be selected according to the speed and voyage and range from 1.5Hz to 1.6Hz,and it had been testified in the long voyage experiment in Beidaihe.SPC-3 UUV achieved 22.761 kilometers,and its voyage time was 6.25 h,average speed was 1.03 m/s.