CN107588885A - The pressure field measurement apparatus and method that a kind of Biomimetic Fish is wagged the tail - Google Patents
The pressure field measurement apparatus and method that a kind of Biomimetic Fish is wagged the tail Download PDFInfo
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Abstract
The pressure field measurement apparatus and method that a kind of Biomimetic Fish is wagged the tail, including clear glass steel water tank, high-energy laser, D type post lens.The clear glass steel water tank inner homogeneous dispenses PIV trace particles, with the PIV trace particles motion in dynamic water tank during the tail swing of mechanical Biomimetic Fish, produces displacement.Crosshead is fixed on clear glass steel water tank, and crosshead connects the dorsal fin of mechanical Biomimetic Fish by extension type mechanical arm, and crosshead is provided with micro pressure sensor, and crosshead side is provided with ccd video camera, ccd video camera connection after-treatment system.High-energy laser is provided with outside clear glass steel water tank.Spot light caused by high-energy laser passes through the plane side of D type post lens, by the refraction of curved surface side, produce area source, area source penetrates clear glass steel water tank and is radiated at plane where the center line of mechanical Biomimetic Fish, the PIV trace particles of the plane are illuminated, so as to be captured by ccd video camera.The present invention can obtain pressure field from PIV speed field data, by the instantaneous pressure of the real-time monitoring point of micro pressure sensor, as reference pressure point when solving volume control technique, you can obtain accurate fish body and wag the tail caused pressure field.
Description
Technical Field
The invention relates to the technical field of bionic fish pressure field measurement, in particular to a bionic fish tail swinging pressure field measurement device and method.
Background
How to obtain the flow field generated by the swimming behavior of the fish is always a concern of fish protection researchers. However, when live fish swims freely, the position of the live fish is not easy to capture, and the fish-swimming simulating robot simulates the swimming action of the fish by mechanical and electronic means and functional materials according to the swimming propulsion mechanism of the fish, so that researchers at home and abroad often replace the fish-swimming simulating robot by simulating a flow field generated by the bionic fish. The Particle Image Velocimetry (PIV) technology can record velocity distribution information on a large number of space points under the same transient state, can provide rich flow field space structures and flow characteristics, overcomes the defects of single-point and contact measuring instruments such as an ultrasonic Doppler current velocity meter (ADV) and a laser Doppler current velocity meter (LDV) due to non-invasive, instantaneous and full-field measuring modes, can obtain a flow field with higher precision, and is popular. The research on the flow field of the fish bionic fish by the PIV technology also becomes a research hotspot.
The pressure is an important hydraulic factor and is a main factor for analyzing the internal stress of the fluid, and the force generated in water is not directly measurable when the fish moves. The traditional pressure measuring devices, such as pressure measuring technologies of pressure sensors, pressure measuring tubes and the like, have more or less defects of contact type, non-instantaneous type and limited point. Since the PIV compensates for the above-mentioned deficiencies, it has become a focus of recent researchers at home and abroad on how to obtain the pressure field in the fluid from the velocity field data measured by the PIV. At present, the velocity field of fluid obtained from PIV is mainly based on N-S (Navier-Stokes) equation, and different pressure field reconstruction methods such as Poisson equation method, direct integration method, control volume method and the like can be obtained through different deformation forms of the N-S equation.
At present, the research at home and abroad mainly aims at simulating the speed field of the fish, and the research on the pressure field is relatively less.
Disclosure of Invention
Aiming at the defect of the current fish body pressure research mechanism, the invention provides a bionic fish tail-swinging pressure field measuring device and method. The device comprises a transparent glass reinforced plastic water tank, a CCD high-speed camera, PIV tracer particles, an experimental bionic fish, a laser emission system, a miniature pressure sensor and an image processing system, wherein the CCD high-speed camera is used for recording the displacement of the tracer particles at the tail of the fish, a shot video is obtained through the image processing system to obtain a speed field, the speed field is solved through a control volume method of an N-S equation, a pressure field can be obtained from the speed field data of the PIV, the instantaneous pressure of a point is monitored in real time through the miniature pressure sensor and is used as a reference pressure point when the control volume method is solved, and the accurate pressure field generated by tail swing of the fish can be obtained.
The technical scheme adopted by the invention is as follows:
a pressure field measuring device for bionic fish tail swing comprises a transparent glass fiber reinforced plastic water tank, a high-energy laser and a D-shaped cylindrical lens. PIV tracer particles are uniformly distributed in the transparent glass fiber reinforced plastic water tank, and the PIV tracer particles in the water tank are driven to move to generate displacement when the tail of the mechanical bionic fish swings. The handling frame is fixed at transparent glass steel basin, and the handling frame passes through the retractable arm and connects the dorsal fin of mechanical bionic fish, and the handling frame is equipped with miniature pressure sensor, and its pressure-sensitive element stretches into in the water for monitor pressure value.
And a CCD camera is arranged on one side of the operating frame and is connected with the post-processing system.
The outside of the transparent glass fiber reinforced plastic water tank is provided with a high-energy laser. The point light source that the high energy laser produced passes through plane one side of D type cylindrical lens, through the refraction of curved surface one side, produces the area source, and the area source penetrates transparent glass steel basin and shines at the central line place plane of mechanical bionic fish, and the PIV tracer particle of this plane is lighted to be caught by the CCD camera.
The mechanical biomimetic fish comprises: the fish body contour a, the fish tail b, the battery c, the microprocessor program control chip d, the upper coil e, the lower coil f and the bar magnet g. An upper coil e and a lower coil f are arranged in the fish body outline a and symmetrically distributed on two sides of the rear part of the fish body, a battery bin is arranged below the fish body, a battery c is arranged in the battery bin, the positive electrode and the negative electrode of the battery c are connected with a micro-processor program control chip d through wires, the output end of the micro-processor program control chip d is respectively connected with the upper coil e and the lower coil f, a strip magnet g capable of swinging is arranged between the two coils, and the strip magnet g is connected with a fish tail b extending out of the fish body outline a.
The transparent glass fiber reinforced plastic water tank is a rectangular glass fiber reinforced plastic water tank with transparent periphery.
The PIV tracer particles are hollow glass particles with the particle size of 10 mu m and the density of 1.02g/cm & lt-3 & gt.
The CCD camera adopts an MC1311 high-speed camera of Mikrotron company, and vertically shoots the motion of PIV tracer particles in the water tank from top to bottom at a frequency of 1000Hz under a resolution of 1024 x 512.
The high-energy laser is connected with the laser power supply, and the high-energy laser generates a point light source under the continuous power supply of the laser power supply. A bionic fish tail-swinging pressure field measurement method is characterized in that a video acquired by a CCD camera is analyzed through a post-processing system, so that an instantaneous speed field is acquired; the acquired speed field comprises space coordinates X and Y of a shooting area and speed components u and v in all directions; the pressure field is obtained from the measured speed field data, and the basic principle is that the pressure field can be obtained by solving the deformation form of N-S.
The invention discloses a bionic fish tail-swinging pressure field measuring device and method, which have the following technical effects:
(1) The pressure field generated by the fishbody swaying can be efficiently and simply obtained.
(2) The invention is not limited by fish species, and pressure fields generated by swing under different frequencies and different amplitudes can be obtained by setting different wave equations of a program control chip of a microprocessor in a fish body to control the tail swing of the fish body, so that peripheral pressure data during the motion of the live fish can be truly reflected.
(3) The invention overcomes the defect that the pressure field of the live fish is difficult to measure during free swimming, overcomes the defect of limited point measurement of the existing pressure measuring devices such as pressure measuring tubes and pressure sensors, and realizes the measurement of the pressure field of infinite points around the tail of the mechanical bionic fish.
Drawings
FIG. 1 is a schematic view of the structure of the apparatus of the present invention.
FIG. 2 is a schematic view of the mechanical bionic fish structure of the invention.
FIG. 3 is a schematic diagram of the present invention dividing a calculation region into a series of non-repeating control volumes.
Fig. 4 is a tail view of the fish body of the present invention.
FIG. 5 is a velocity field cloud of the present invention.
Fig. 6 is a pressure field cloud of the present invention at the fish tail.
Detailed Description
As shown in figure 1, the pressure field measuring device for bionic fish tail swing comprises a transparent glass fiber reinforced plastic water tank 1, a high-energy laser 8 and a D-shaped cylindrical lens 9.
PIV tracer particles 2 are uniformly distributed in the transparent glass fiber reinforced plastic water tank 1, and the PIV tracer particles 2 in the water tank are driven to move to generate displacement when the tail part of the mechanical bionic fish 6 swings;
the handling frame 3 is fixed right above the transparent glass fiber reinforced plastic water tank 1, the center of the handling frame 3 is connected with the dorsal fin of the mechanical bionic fish 6 through the telescopic mechanical arm, and the mechanical arm can be telescopic, so that the height of the mechanical bionic fish 6 in the water body can be adjusted. The front view direction of the operation frame 3 is provided with a miniature pressure sensor 4, and a pressure sensing element of the miniature pressure sensor extends into a water body and is used for monitoring a pressure value;
the CCD camera 5 is arranged on the right view direction side of the operation frame 3, and the CCD camera 5 is connected with the post-processing system 7.
The post-processing system 7 comprises a video format shot by a high-speed camera, the video format is converted into a picture format through software Virtual Dub software, then two continuous pictures are led into a PIVlab tool in an MATLAB sub-database to be subjected to cross-correlation analysis, the speed field of the whole water tank is obtained, the analysis result is led out in an ASCII value mode, and the space coordinates X and Y and corresponding speed data u and v are contained, so that the purpose of measuring the two-dimensional speed field is achieved.
The outside of the transparent glass fiber reinforced plastic water tank 1 is provided with a high-energy laser 8. The point light source generated by the high-energy laser 8 penetrates through one side of the plane of the D-shaped cylindrical lens 9 and is refracted through one side of the curved surface to generate a surface light source, the surface light source penetrates through the transparent glass fiber reinforced plastic water tank 1 to irradiate on the plane where the center line of the mechanical bionic fish 6 is located, and the PIV tracing particles 2 on the plane are illuminated so as to be captured by the CCD camera 5.
D-type cylindrical lens 9 is wide: 6cm long: 15cm, material H-K9L 9, designed wavelength 587.6nm, focal length tolerance +/-1%, appearance tolerance, +0.0/-0.1mm thickness tolerance +/-0.2 mm face type lambda/2 @632.8nm smoothness, 60-40 eccentricity, <3' effective aperture: >90% chamfering, < 0.2X 45 DEG coating and multilayer antireflection film, wherein the material is used for producing a surface light source with the thickness of 2 mm. The placing position of the laser emitter is positioned right in front of the laser emitter 8, so that the laser can penetrate through one side of the plane of the D-shaped column and is emitted out from the curved surface, and the surface light source is generated.
As shown in fig. 2, the mechanical biomimetic fish 6 comprises: the fish body profile a, the fish tail b, the battery c, the microprocessor program control chip d, the upper coil e, the lower coil f and the bar magnet g. An upper coil e and a lower coil f are arranged in the fish body outline a and symmetrically distributed on two sides of the rear part of the fish body, a battery bin is arranged below the fish body, a battery c is arranged in the battery bin, the positive electrode and the negative electrode of the battery c are connected with a micro-processor program control chip d through wires, the output end of the micro-processor program control chip d is respectively connected with the upper coil e and the lower coil f, a strip magnet g capable of swinging is arranged between the two coils, and the strip magnet g is connected with a fish tail b extending out of the fish body outline a. When the output end of the microprocessor program control chip d outputs currents with different frequencies, the magnetic property of the coil enables the bar magnet g to generate attraction and repulsion reactions, so that the fish tail b is driven to generate simple harmonic motion, and the motion is similar to the swing of a live fish tail. The microprocessor program control chip d adjusts the frequency of the output signal and the range of voltage amplitude adjustment by giving circuit element parameters based on the ICL8038 program control chip, so that the swing of the fishtail generates different wave equations, and more swing postures are obtained.
The transparent glass fiber reinforced plastic water tank 1 is a rectangular glass fiber reinforced plastic water tank with transparent periphery, and the specification is that the length is multiplied by the width by the height =1m by 0.5m.
The PIV tracer particles 2 are hollow glass particles with the particle size of 10 mu m and the density of 1.02g/cm & lt-3 & gt. The density of the suspension is close to that of the water body, and the suspension can be better suspended in the water body without sedimentation, so that the suspension has good follow-up property.
The CCD camera 5 is an MC1311 type high-speed camera of Mikrotron, and vertically photographs the motion of the PIV tracer particles 2 in the water tank from top to bottom at a frequency of 1000Hz at a resolution of 1024 × 512.
The high-energy laser 8 is connected with a laser power supply 10, and the high-energy laser 7 generates a point light source under the continuous power supply of the laser power supply 10.
A bionic fish tail-swinging pressure field measurement method is characterized in that a video acquired by a CCD camera 5 is analyzed by a post-processing system 7, so that an instantaneous speed field is acquired; the acquired velocity field comprises spatial coordinates X and Y of a shooting area and velocity components u and v in all directions; the pressure field is obtained from the measured speed field data, and the basic principle is that the pressure field can be obtained by solving the deformation form of N-S.
The invention mainly describes a finite volume method, which is also called a finite volume method, and the basic idea is as follows:
as shown in fig. 3, the calculation region is divided into a series of non-repeating control volumes, and the solution is performed on the control volumes by discrete differential equations; similarly, in the image processing system of the PIV, the image is often decomposed into a plurality of rectangular areas with equal size, the areas are called inquiry areas, the velocity data calculated by the PIV is stored in the center of the inquiry areas, which is very similar to the same-position grids, only the velocity value exists in the center of the inquiry areas, and no pressure value exists, so that the pressure value can be obtained through a discrete N-S equation;
the N-S equation is as follows:
where ρ is the density of the fluid, u x 、u y The velocity components in the X and Y directions are respectively, the X and Y refer to mass forces in the X and Y directions, and in the research at home and abroad, the mass forces are far less than the influence of other forces, the P is the pressure, and the mu is the dynamic viscosity of the fluid and is related to the temperature of the fluid during movement.
In the simplification process, the influence of mass force is neglected, so the above two equations are written as:
in the above formula: u. of x 、u y The pressure gradient can be obtained by the PIV experiment, so that the discretization treatment is carried out on the formula, the pressure gradient in two directions can be obtained by utilizing the velocity field obtained by the PIV, and the pressure field of the drainage basin can be obtained.
For the processing of the differential terms, the values of the differential terms on the right side of the equation are required to obtain the pressure gradient, taking the x direction as an example
To pairThe items are,
wherein direct integration of the pressure gradient term in the x-directionThe path is on the control grid interface e, w; n, s are integrated horizontally and vertically, thereby double integrating the entire control volume, as a double integration of the pressure difference in the x-direction in the y-direction. P e Pressure, P, referring to point e w Refers to the pressure at the w interface. Δ y refers to the length of the cell in the y direction along the control volume.
To pairThe items are,
wherein u is x 、u y Are the velocity components in the x, y directions, u, respectively ex 、u wx 、u nx 、u sx The velocities along the x-direction at points e, w, n, s, respectively, u ey 、u wy 、u ny 、u sy The velocities along the y-direction at points e, w, n, s, respectively. For is toDirect integration of the term, refers to the direct integration along path e, w; n, s are the horizontal and vertical integrations over the control grid interface, thus double integrating the entire control volume unit. P e Refers to the pressure at point e, P w Refers to the pressure at the w interface. Δ x refers to the length of the cell in the x direction along the control volume.
To pairThe items are,
wherein u is XE 、u XW 、u XN 、u XS 、u XP The velocities along the x-direction at points e, w, n, s, p, respectively, u YE 、 u YW 、u YN 、u YS 、u Yp The velocities along the y-direction at points e, w, n, s, p, respectively; . Δ x refers to the length of the cell in the x direction over the control volume; Δ y refers to the length of the cell in the y direction along the control volume. For theThe integration over the control volume is a double integration along the x, y direction, respectively.
The velocity values of the control volume centers P, W, E, N, and S are measured by PIV, Δ x and Δ y are step lengths of PIV cross-correlation calculation, the velocities on the interfaces E, W, S, and N are unknown, but can be obtained by interpolation, and the velocity values at each interface are obtained by using a second-order windward format, which is a consistent method of a finite volume method, and are finally obtained by sorting:
similarly, the momentum in the y direction is integrated and sorted to obtain:
wherein Pe, pw, pn, ps are the pressure at the control volume interfaces e, w, n, s, respectively, and the interface pressure difference P on each unit grid e -P w 、P n -P s After obtaining, selecting in the grid systemA reference pressure point, and the selected pressure reference point data is the pressure value monitored by the miniature pressure sensor 4 in real time, and the accurate pressure value at each interface can be obtained by bringing the pressure value into the formula, if the grid is dense enough, P is taken P ＝(P e +P w +P n +P s ) And 4, obtaining the pressure value of the center of the control volume.
In the above example, the apparatus was arranged so that the high speed camera took video at 1000 frame rates/sec over an area of 12cm x 8cm, and the images of the flow field changes in the tail of a mechanical fish taken in accordance with the method described above were as shown in figures 4-6:
the picture taken at the tail of the fish body is shown in figure 4;
a velocity field cloud map of the post-processing system can be obtained, as shown in fig. 5;
according to the pressure field algorithm, a pressure field cloud chart at the fish tail can be obtained, as shown in fig. 6.
Claims (8)
1. The utility model provides a pressure field measuring device that bionical fish swayed tail, includes transparent glass steel basin (1), high energy laser instrument (8), D type cylindrical lens (9), its characterized in that:
PIV tracer particles (2) are uniformly distributed in the transparent glass fiber reinforced plastic water tank (1), and the PIV tracer particles (2) in the water tank are driven to move to generate displacement when the tail of the mechanical bionic fish (6) swings;
the operation frame (3) is fixed on the transparent glass fiber reinforced plastic water tank (1), the operation frame (3) is connected with a dorsal fin of the mechanical bionic fish (6) through a telescopic mechanical arm, the operation frame (3) is provided with a miniature pressure sensor (4), and a pressure sensing element of the miniature pressure sensor extends into a water body and is used for monitoring a pressure value;
a CCD camera (5) is arranged on one side of the operating frame (3), and the CCD camera (5) is connected with a post-processing system (7);
a high-energy laser (8) is arranged outside the transparent glass fiber reinforced plastic water tank (1);
a point light source generated by the high-energy laser (8) penetrates through one side of the plane of the D-shaped cylindrical lens (9) and is refracted through one side of the curved surface to generate a surface light source, the surface light source penetrates through the transparent glass fiber reinforced plastic water tank (1) to irradiate on the plane where the center line of the mechanical bionic fish (6) is located, and the PIV tracing particles (2) of the plane are illuminated and captured by the CCD camera (5).
2. The device for measuring the pressure field of the tail swing of the bionic fish as claimed in claim 1, wherein: the mechanical biomimetic fish (6) comprises: the fish body contour (a), the fish tail (b), the battery (c), the micro-processor program control chip (d), the upper coil (e), the lower coil (f) and the bar magnet (g);
be equipped with upper portion coil (e), lower part coil (f) in fish body profile (a), its symmetric distribution is in the both sides at fish body rear portion, and the below of the fish body is equipped with battery compartment, and battery (c) are equipped with, and the positive and negative pole of battery (c) is connected with the programme-controlled chip of microprocessor (d) by the wire, and upper portion coil (e), lower part coil (f) are connected respectively to the programme-controlled chip of microprocessor (d) output, and the centre of two coils is equipped with one can wobbling bar magnet (g), and bar magnet (g) link to each other with fish tail (b) that stretch out fish body profile (a).
3. The bionic fish tail-swinging pressure field measuring device according to claim 1, characterized in that: the transparent glass fiber reinforced plastic water tank (1) is a rectangular glass fiber reinforced plastic water tank with transparent periphery.
4. The device for measuring the pressure field of the tail swing of the bionic fish as claimed in claim 1, wherein: the PIV tracer particles (2) are hollow glass particles with the particle size of 10 mu m and the density of 1.02g/cm < -3 >.
5. The device for measuring the pressure field of the tail swing of the bionic fish as claimed in claim 1, wherein: the CCD camera (5) adopts an MC1311 high-speed camera of Mikrotron company, and vertically shoots the motion of the PIV tracer particles (2) in the water tank from top to bottom at a frequency of 1000Hz under a resolution of 1024 x 512.
6. The device for measuring the pressure field of the tail swing of the bionic fish as claimed in claim 1, wherein: the high-energy laser (8) is connected with the laser power supply device (10), and the high-energy laser (8) generates a point light source under the continuous power supply of the laser power supply device (10).
7. The bionic fish tail-swaying pressure field measurement method adopting the bionic fish tail-swaying pressure field measurement device as claimed in any one of claims 1 to 6, is characterized in that: the video acquired by the CCD camera (5) is analyzed by a post-processing system (7) so as to acquire an instantaneous speed field;
the acquired velocity field comprises spatial coordinates X and Y of a shooting area and velocity components u and v in all directions; the pressure field is obtained from the measured speed field data, and the basic principle is that the pressure field can be obtained by solving the deformation form of N-S.
8. The bionic fish tail-swaying pressure field measurement method adopting the bionic fish tail-swaying pressure field measurement device as claimed in any one of claims 1 to 6, is characterized in that: dividing the calculation area into a series of non-repetitive control volumes, and solving the control volumes through a discrete differential equation; similarly, in the image processing system of the PIV, the image is often decomposed into a plurality of rectangular areas with equal size, the areas are called inquiry areas, the velocity data calculated by the PIV is stored in the center of the inquiry areas, which is very similar to the same-position grids, only the velocity value exists in the center of the inquiry areas, and no pressure value exists, so that the pressure value can be obtained through a discrete N-S equation;
the N-S equation is as follows:
in the simplification process, the influence of mass force is neglected, so the above two equations are written as:
in the above formula: u. of x ，u y The pressure gradient in two directions can be obtained by utilizing the velocity field measured by the PIV, and further the pressure field of a drainage basin can be obtained;
for processing the differential terms, the values of the differential terms on the right side of the equation are required to obtain the pressure gradient, and the x direction is taken as an exampleThe items are,
to pairThe items are,
to pairThe items are,
the velocity values of the control volume centers P, W, E, N, and S are measured by PIV, Δ x and Δ y are step lengths of PIV cross-correlation calculation, the velocities on the interfaces E, W, S, and N are unknown, but can be obtained by interpolation, and the velocity values at each interface are obtained by using a second-order windward format, which is a consistent method of a finite volume method, and are finally obtained by sorting:
similarly, the momentum in the y direction is integrated and sorted to obtain:
interfacial pressure difference P on each cell grid e -P w 、P n -P s After obtaining the pressure value, selecting a reference pressure point in the grid system, wherein the selected pressure reference point data is the pressure value monitored by the miniature pressure sensor (4) in real time, and the pressure value is taken into the formula to obtain the accurate pressure value of each interface, and if the grid is dense enough, P is taken P ＝(P e +P w +P n +P s ) And 4, obtaining the pressure value of the center of the control volume.
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