Research On Bionic Turtle Hydrofoil Propulsion Technology Of Autonomous Underwater Vehicle

The bionic underwater propulsion technology is one of the most important research directions in the underwater propulsion technology research field, and it brings forth the basical technical supports to develop the low noisy, high flexible underwater vehicle.This paper, of which the name is "Research on Bionic Turtle Hydrofoil Propulsion Technology of Autonomous Underwater Vehicle",using marine turtle as bionic target, researches on the halobios' hydrofoil propulsion technology. In order to exploit new type of underwater propulsion technology, enrich underwater propulsion theory and research the carrier technology of new pattern of microminiatur autonomous underwater vehicle based on the new propulsion technology. Following are the main works of this thesis:Firstly, we make a number of observation experiments about marine turtle on the spot, research its every part posture parameters and proportion parameters, understand the characteristic of turtle swimming.By means of image processing and analysis method, we research the motion theory of turtle forelimb's hydrofoil propulsion, and bring forward the new conception of imitating turtle hydrofoil propulsion motion.Secondly, we design the bionic turtle hydrofoil propulsion device, including mechanics configuration design and hardware electrocircuit design, and then manufacture the experiment prototype device. Establish the kinematics model and dynamics model of the propulsion device, then analysis its Jacobian matrix equation, preparing the reference to control system. Under the Pro/Engineer emulational condition, we do the device's emulating motion experiments, and the results are important references to betterment of the hydrofoil propulsion device.Thirdly, we do the underwater experiments about the bionic hydrofoil propulsion experiment prototype device, and the results basically achieve the design intention of bionic turtle hydrofoil motion. At the same time, the results also validate the design of configuration, design of electrocircuit and design of eddy pressurize. Finally, we manufacture the bionic tutle hindlimb balance rudder experiment prototype device, and design the whole bionic turtle autonomouns underwater vehicle which including mechanics configuration design and contol project design. It is a new type of carrier blueprint about the autonomous underwater vehicle.This thesis discusses the motion theory of the halobios' hydrofoil propulsion which is one of the representative underwater propulsion fashion. By means of establishing and analysing the kinematics modle of turtle, we design the bionic turtle hydrofoil propulsion device, and do the experiments to prove the feasibility of bionic hydrofoil propulsion theory and the reliability of bionic hydrofoil propulsion device.All of these are the important references to research on the bionic turtle autonomous underwater vehicle.