Abstract
Abstract The technology of Autonomous Underwater Vehicles (AUVs) is developing in two main directions focusing on improving autonomy and improving construction, especially driving and power supply systems. The new Biomimetic Underwater Vehicles (BUVs) are equipped with the innovative, energy efficient driving system consisting of artificial fins. Because these driving systems are not well developed yet, there are great possibilities to optimize them, e.g. in the field of materials. The article provides an analysis of the propulsion force of the fin as a function of the characteristics of the material from which it is made. The parameters of different materials were used for the fin design and their comparison. The material used in our research was tested in a laboratory to determine the Young’s modulus. For simplicity, the same fin geometry (the length and the height) was used for each type of fin. The Euler–Bernoulli beam theory was applied for estimation of the fluid–structure interaction. This article presents the laboratory test stand and the results of the experiments. The laboratory water tunnel was equipped with specialized sensors for force measurements and fluid–structure interaction analysis. The fin deflection is mathematically described, and the relationship between fin flexibility and the generated driving force is discussed.
Highlights
Biomimetic Underwater Vehicles (BUVs) [8], [11] have become more popular due to their ability to achieve a low hydroacoustic spectrum [10] and high energy efficiency in comparison to Underwater Vehicles (UVs) [13] with conventional rotary propellers
The higher frequencies are desired for the BUV thrust if the stainless steel is considered as a material for fins
The fluid–structure interaction is a nonlinear problem without a ready-to-use mathematical model
Summary
Biomimetic Underwater Vehicles (BUVs) [8], [11] have become more popular due to their ability to achieve a low hydroacoustic spectrum [10] and high energy efficiency in comparison to Underwater Vehicles (UVs) [13] with conventional rotary propellers. The control algorithm is based on the movement of fish, especially on their undulating propulsion [7]. This type of construction is difficult to control, quite expensive, and more connections increase the risk of flooding electronic components inside. Efforts have been made to investigate energy efficiency and the ability to achieve high linear speed for a vehicle with a propulsion system based on a one-piece flexible fin construction [20]. It was assumed that the fish-like movement could be reproduced with a fin made from a flexible material controlled with different motion algorithms. In the paper [2], information is provided that it is possible to put the oscillation frequency for the range of optimal Strouhal number [17]
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