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
一种仿生鱼摆尾的压力场测量装置与方法，包括透明玻璃钢水槽，高能激光器、D型柱透镜。所述透明玻璃钢水槽内部均匀布撒PIV示踪粒子，机械仿生鱼的尾部摆动时带动水槽内的PIV示踪粒子运动，产生位移。操作架固定在透明玻璃钢水槽，操作架通过可伸缩式机械臂连接机械仿生鱼的背鳍，操作架设有微型压力传感器，操作架一侧设有CCD摄像机，CCD摄像机连接后处理系统。透明玻璃钢水槽外部设有高能激光器。高能激光器产生的点光源穿过D型柱透镜的平面一侧，经过曲面一侧的折射，产生面光源，面光源穿透透明玻璃钢水槽照射在机械仿生鱼的中线所在平面，该平面的PIV示踪粒子被照亮，从而被CCD摄像机所捕捉到。本发明可从PIV的速度场数据中获取压力场，通过微型压力传感器实时监测点的瞬时压力，作为求解控制容积法时的参考压力点，即可获取准确的鱼体摆尾产生的压力场。
A pressure field measurement device and method for bionic fish tail swinging, comprising a transparent glass fiber reinforced plastic tank, a high-energy laser, and a D-shaped cylindrical lens. PIV tracer particles are evenly distributed inside the transparent glass fiber reinforced plastic water tank, and the tail of the mechanical bionic fish drives the movement of the PIV tracer particles in the water tank to generate displacement. The operating frame is fixed on the transparent glass fiber reinforced plastic tank, and the operating frame is connected to the dorsal fin of the mechanical bionic fish through the retractable mechanical arm. The operating frame is equipped with a miniature pressure sensor, and a CCD camera is installed on one side of the operating frame, and the CCD camera is connected to the post-processing system. A high-energy laser is installed on the outside of the transparent fiberglass tank. The point light source generated by the high-energy laser passes through the plane side of the D-shaped cylindrical lens and is refracted by the curved side to generate a surface light source. The surface light source penetrates the transparent glass fiber reinforced plastic tank and illuminates the plane where the midline of the mechanical bionic fish is located. The PIV of the plane shows The trace particles are illuminated and captured by the CCD camera. The present invention can obtain the pressure field from the velocity field data of the PIV, monitor the instantaneous pressure of the point in real time through the micro pressure sensor, and use it as a reference pressure point when solving the control volume method, so as to obtain the accurate pressure field generated by the tail swing of the fish body.
Description
技术领域technical field
本发明涉及仿生鱼压力场测量技术领域，特别是一种仿生鱼摆尾的压力场测量装置与方法。The invention relates to the technical field of bionic fish pressure field measurement, in particular to a pressure field measurement device and method for bionic fish wagging tail.
背景技术Background technique
如何获取鱼类游泳行为所产生的流场一直是鱼类保护研究者们所关注的问题。但是活鱼在自由游泳时，位置往往不易捕捉，而仿鱼机器人是参照鱼类的游动推进机理，利用机械和电子手段以及功能材料来模拟鱼游动作，因而国内外研究者们往往通过模拟仿生鱼所产生的流场来代替。粒子图像测速技术(PIV)能在同一瞬态下记录大量空间点上的速度分布信息，并可提供丰富的流场空间结构及流动特性，由于其非侵入、瞬时、全场的测量方式，弥补了超声多普勒流速仪(ADV)、激光多普勒测速仪(LDV)等这些单点、接触测量仪器的缺点，能够获取精度更高的流场，故而备受青睐。用PIV技术研究鱼仿生鱼的流场也成为研究热点。How to obtain the flow field generated by fish swimming behavior has always been a concern of fish conservation researchers. However, when live fish are swimming freely, the position is often difficult to catch, and the fish-like robot refers to the swimming propulsion mechanism of fish, and uses mechanical and electronic means and functional materials to simulate fish swimming movements. Therefore, researchers at home and abroad often use simulation The flow field generated by the bionic fish is used instead. Particle image velocimetry (PIV) can record the velocity distribution information of a large number of spatial points in the same transient state, and can provide rich spatial structure and flow characteristics of the flow field. It overcomes the shortcomings of single-point and contact measurement instruments such as ultrasonic Doppler velocimetry (ADV) and laser Doppler velocimetry (LDV), and can obtain a more accurate flow field, so it is favored. Using PIV technology to study the flow field of bionic fish has also become a research hotspot.
压强作为重要的水力因子，是分析流体内部受力的主要因素，而鱼类运动时，在水中产生的力是不可直接测量的。传统的压力测量装置，例如压力传感器、测压管等压强测量技术，都或多或少的存在接触式、非瞬时、有限点这三个方面的缺陷。由于PIV弥补上述的不足，因此如何从PIV所测的速度场数据中获取流体内的压力场成为最近国内外学者的关注点。目前从PIV获取流体的速度场主要依据的是N-S(Navier-Stokes)方程，通过 N-S方程不同的变形形式，可以得到不同的压力场重构方法，例如泊松方程法、直接积分法、控制容积法等。As an important hydraulic factor, pressure is the main factor to analyze the internal force of the fluid, while the force generated in the water cannot be directly measured when fish move. Traditional pressure measurement devices, such as pressure sensors, piezometric tubes and other pressure measurement technologies, have more or less defects in three aspects: contact, non-instantaneous, and finite point. Since PIV makes up for the above deficiencies, how to obtain the pressure field in the fluid from the velocity field data measured by PIV has recently become the focus of scholars at home and abroad. At present, the velocity field of the fluid obtained from PIV is mainly based on the N-S (Navier-Stokes) equation. Through different deformation forms of the N-S equation, different pressure field reconstruction methods can be obtained, such as Poisson equation method, direct integration method, control volume law etc.
目前国内外研究的主要是仿生鱼的速度场，对其压力场的研究相对较少，本发明所提出的一种仿生鱼摆尾的压力场测量装置与方法，能高效、简易的获取鱼体摆尾所产生的压力场，克服了目前研究机制的不足。At present, the research at home and abroad is mainly on the velocity field of bionic fish, and there are relatively few studies on its pressure field. A device and method for measuring the pressure field of bionic fish wagging tail proposed by the present invention can obtain fish body efficiently and easily. The pressure field generated by wagging the tail overcomes the shortcomings of the current research mechanism.
发明内容Contents of the invention
针对目前鱼体压力研究机制不足，本发明提供一种仿生鱼摆尾的压力场测量装置与方法。本发明装置由透明玻璃钢水槽、CCD高速相机、PIV示踪粒子、实验仿生鱼、激光发射系统，微型压力传感器，图像处理系统组成，通过CCD高速相机记录鱼尾处示踪粒子的位移，拍摄的视频通过图像处理系统获取速度场，通过N-S方程的控制容积法求解，可从 PIV的速度场数据中获取压力场，通过微型压力传感器实时监测点的瞬时压力，作为求解控制容积法时的参考压力点，即可获取准确的鱼体摆尾产生的压力场。Aiming at the lack of current fish body pressure research mechanism, the present invention provides a pressure field measurement device and method for bionic fish wagging tail. The device of the present invention is composed of a transparent glass steel tank, a CCD high-speed camera, PIV tracer particles, an experimental bionic fish, a laser emission system, a micro pressure sensor, and an image processing system. The displacement of the tracer particles at the tail of the fish is recorded by the CCD high-speed camera, and the captured The video obtains the velocity field through the image processing system, and solves it through the control volume method of the N-S equation. The pressure field can be obtained from the velocity field data of the PIV, and the instantaneous pressure of the point is monitored in real time through a micro pressure sensor, as a reference pressure when solving the control volume method Click to obtain the accurate pressure field generated by the tail wagging of the fish body.
本发明采取的技术方案为：The technical scheme that the present invention takes is:
一种仿生鱼摆尾的压力场测量装置，包括透明玻璃钢水槽，高能激光器、D型柱透镜。所述透明玻璃钢水槽内部均匀布撒PIV示踪粒子，机械仿生鱼的尾部摆动时带动水槽内的 PIV示踪粒子运动，产生位移。操作架固定在透明玻璃钢水槽，操作架通过可伸缩式机械臂连接机械仿生鱼的背鳍，操作架设有微型压力传感器，其压力感应元件伸入水体中，用于监测压力值。A pressure field measurement device for bionic fish tail swinging, including a transparent glass fiber reinforced plastic tank, a high-energy laser, and a D-shaped cylindrical lens. PIV tracer particles are evenly distributed inside the transparent glass fiber reinforced plastic water tank, and when the tail of the mechanical bionic fish swings, it drives the PIV tracer particles in the water tank to move and generate displacement. The operating frame is fixed in the transparent glass fiber reinforced plastic tank, and the operating frame is connected to the dorsal fin of the mechanical bionic fish through a retractable mechanical arm. The operating frame is equipped with a miniature pressure sensor, and its pressure sensing element extends into the water body to monitor the pressure value.
操作架一侧设有CCD摄像机，CCD摄像机连接后处理系统。A CCD camera is arranged on one side of the operating frame, and the CCD camera is connected to the post-processing system.
透明玻璃钢水槽外部设有高能激光器。高能激光器产生的点光源穿过D型柱透镜的平面一侧，经过曲面一侧的折射，产生面光源，面光源穿透透明玻璃钢水槽照射在机械仿生鱼的中线所在平面，该平面的PIV示踪粒子被照亮，从而被CCD摄像机所捕捉到。A high-energy laser is installed on the outside of the transparent fiberglass tank. The point light source generated by the high-energy laser passes through the plane side of the D-shaped cylindrical lens and is refracted by the curved side to generate a surface light source. The surface light source penetrates the transparent glass fiber reinforced plastic tank and illuminates the plane where the midline of the mechanical bionic fish is located. The PIV of the plane shows The trace particles are illuminated and captured by the CCD camera.
所述机械仿生鱼包括：鱼体轮廓a、鱼尾b、电池c、微型处理器程控芯片d、上部线圈e、下部线圈f、条形磁铁g。在鱼体轮廓a内设有上部线圈e、下部线圈f，其对称分布于鱼体后部的两侧，鱼体的下方设有电池仓，其中装有电池c，电池c的正、负极由导线与微型处理器程控芯片d连接，微型处理器程控芯片d输出端分别连接上部线圈e、下部线圈f，两个线圈的中间设有一个可以摆动的条形磁铁g，条形磁铁g与伸出鱼体轮廓a的鱼尾b 相连。The mechanical bionic fish includes: fish body outline a, fish tail b, battery c, microprocessor program control chip d, upper coil e, lower coil f, and bar magnet g. An upper coil e and a lower coil f are arranged in the outline a of the fish body, which are symmetrically distributed on both sides of the rear of the fish body, and a battery compartment is provided below the fish body, in which a battery c is housed, and the positive and negative poles of the battery c are provided by The wire is connected to the microprocessor program control chip d, the output end of the microprocessor program control chip d is respectively connected to the upper coil e and the lower coil f, and a swingable bar magnet g is arranged in the middle of the two coils, and the bar magnet g is connected to the extension The tail b of the fish body outline a is connected.
所述透明玻璃钢水槽为四周透明的矩形玻璃钢水槽。The transparent FRP water tank is a rectangular FRP water tank with transparent surroundings.
所述PIV示踪粒子为粒径为10μm、密度1.02g/cm-3的空心玻璃粒子。The PIV tracer particles are hollow glass particles with a diameter of 10 μm and a density of 1.02 g/cm-3.
所述CCD摄像机采用Mikrotron公司的MC1311型高速摄影机，在1024×512的分辨率下以1000Hz的频率，进行自上而下垂直拍摄水槽内PIV示踪粒子的运动。The CCD camera adopts the MC1311 high-speed camera of Mikrotron Company, and under the resolution of 1024×512 at the frequency of 1000 Hz, the motion of the PIV tracer particles in the water tank is photographed vertically from top to bottom.
所述高能激光器连接激光供电器，高能激光器在激光供电器的持续供电下产生的点光源。一种仿生鱼摆尾的压力场测量方法，CCD摄像机获取的视频通过后处理系统进行分析，从而获取瞬时速度场；获取的速度场包括拍摄区域的空间坐标X、Y以及各方向的速度分量u、v；从测量的速度场数据中获取压力场，其基本原理是通过求解N-S的变形形式即可获取压力场。The high-energy laser is connected to a laser power supply, and the high-energy laser generates a point light source under the continuous power supply of the laser power supply. A method for measuring the pressure field of bionic fish tail swinging. The video captured by the CCD camera is analyzed by the post-processing system to obtain the instantaneous velocity field; the acquired velocity field includes the spatial coordinates X and Y of the shooting area and the velocity components u in each direction , v; the pressure field is obtained from the measured velocity field data, and the basic principle is to obtain the pressure field by solving the deformation form of N-S.
本发明一种仿生鱼摆尾的压力场测量装置与方法，技术效果如下：The present invention is a device and method for measuring the pressure field of a bionic fish tail wagging, and the technical effects are as follows:
(1)、能高效、简易的获取鱼体摆尾所产生的压力场。(1) It can efficiently and simply obtain the pressure field generated by the tail wagging of the fish body.
(2)、本发明不受鱼种限制，只要设定鱼体内微型处理器程控芯片不同的波动方程，用来控制鱼体摆尾，就可获取不同频率、不同振幅下的摆动产生的压力场，真实反映活鱼运动时周边的压力数据。(2), the present invention is not limited by fish species, as long as the different wave equations of the microprocessor program-controlled chip in the fish body are set to control the tail swing of the fish body, the pressure field generated by the swing at different frequencies and different amplitudes can be obtained , truly reflect the surrounding pressure data when the live fish moves.
(3)、本发明客服了活鱼在自由游泳时压力场不易测量的缺点，客服了目前压力测量装置如测压管，压力传感器有限点测量的不足，实现了机械仿生鱼尾部周围无限个点的压力场的测量。(3), the present invention overcomes the shortcoming that the pressure field of live fish is not easy to measure when swimming freely, overcomes the shortcomings of current pressure measuring devices such as piezometers and pressure sensors with limited point measurement, and realizes unlimited points around the tail of mechanical bionic fish measurement of the pressure field.
附图说明Description of drawings
图1为本发明装置的结构示意图。Fig. 1 is a structural schematic diagram of the device of the present invention.
图2为本发明的机械仿生鱼结构示意图。Fig. 2 is a structural schematic diagram of the mechanical bionic fish of the present invention.
图3为本发明将计算区域划分为一系列的不重复的控制体积的示意图。FIG. 3 is a schematic diagram of dividing the calculation area into a series of non-repetitive control volumes according to the present invention.
图4为本发明的鱼体尾部图。Fig. 4 is the fish body tail figure of the present invention.
图5为本发明的速度场云图。Fig. 5 is a velocity field nephogram of the present invention.
图6为本发明的鱼尾处的压力场云图。Fig. 6 is a cloud diagram of the pressure field at the tail of the fish in the present invention.
具体实施方式Detailed ways
如图1所示，一种仿生鱼摆尾的压力场测量装置，包括透明玻璃钢水槽1，高能激光器8、D型柱透镜9。As shown in FIG. 1 , a pressure field measurement device for bionic fish tail swinging includes a transparent glass fiber reinforced plastic tank 1 , a high-energy laser 8 , and a D-shaped cylindrical lens 9 .
所述透明玻璃钢水槽1内部均匀布撒PIV示踪粒子2，机械仿生鱼6的尾部摆动时带动水槽内的PIV示踪粒子2运动，产生位移；PIV tracer particles 2 are evenly distributed inside the transparent glass fiber reinforced plastic water tank 1, and when the tail of the mechanical bionic fish 6 swings, it drives the PIV tracer particles 2 in the water tank to move, resulting in displacement;
操作架3固定在透明玻璃钢水槽1的正上方，操作架3的中心通过可伸缩式机械臂连接机械仿生鱼6的背鳍，由于机械臂可以伸缩，故可以调整机械仿生鱼6在水体中的高度。操作架3的正视图方向设有微型压力传感器4，其压力感应元件伸入水体中，用于监测压力值；The operating frame 3 is fixed directly above the transparent glass fiber reinforced plastic tank 1, and the center of the operating frame 3 is connected to the dorsal fin of the mechanical bionic fish 6 through a retractable mechanical arm. Since the mechanical arm can be stretched, the height of the mechanical bionic fish 6 in the water body can be adjusted . The front view direction of the operating frame 3 is provided with a miniature pressure sensor 4, and its pressure sensing element extends into the water body for monitoring the pressure value;
操作架3的右视图方向侧设有CCD摄像机5，CCD摄像机5连接后处理系统7。A CCD camera 5 is arranged on the right side of the operating frame 3 , and the CCD camera 5 is connected to the post-processing system 7 .
后处理系统7包括高速摄像机拍摄的视频格式，经过软件Virtual Dub软件转换为图片格式，然后将连续的两张图片导入MATLAB子数据库中的PIVlab工具中进行互相关分析，获取整个水槽的速度场,将分析的结果以ASCII值的形式导出，便含有空间坐标X、Y以及所对应的速度数据u、v这样就实现了二维速度场测量的目的。The post-processing system 7 includes the video format taken by the high-speed camera, which is converted into a picture format through the software Virtual Dub software, and then two consecutive pictures are imported into the PIVlab tool in the MATLAB sub-database for cross-correlation analysis to obtain the velocity field of the entire tank. The analysis results are exported in the form of ASCII values, which contain the spatial coordinates X, Y and the corresponding velocity data u, v, thus realizing the purpose of two-dimensional velocity field measurement.
透明玻璃钢水槽1外部设有高能激光器8。高能激光器8产生的点光源穿过D型柱透镜9的平面一侧，经过曲面一侧的折射，产生面光源，面光源穿透透明玻璃钢水槽1照射在机械仿生鱼6的中线所在平面，该平面的PIV示踪粒子2被照亮，从而被CCD摄像机5 所捕捉到。A high-energy laser 8 is arranged outside the transparent glass fiber reinforced plastic water tank 1 . The point light source produced by the high-energy laser 8 passes through one side of the plane of the D-shaped cylindrical lens 9 and is refracted on one side of the curved surface to generate a surface light source. The planar PIV tracer particles 2 are illuminated to be captured by the CCD camera 5 .
D型柱透镜9宽：6cm长：15cm，材料:H-K9L 9，用来产生厚度为2mm的面光源，设计波长:587.6nm，焦距公差:±1％，外型公差:+0.0/-0.1mm厚度公差:±0.2mm面型: λ/2@632.8nm光洁度:60-40偏心:<3'有效孔径:>90％倒边:<0.2×45°镀膜:多层增透膜。其摆放位置位于激光发射器8的正前方，使激光能穿过D型柱的平面一侧，从曲面散出，从而产生面光源。D-shaped cylindrical lens 9 width: 6cm length: 15cm, material: H-K9L 9, used to produce a surface light source with a thickness of 2mm, design wavelength: 587.6nm, focal length tolerance: ±1%, appearance tolerance: +0.0/- 0.1mm Thickness Tolerance: ±0.2mm Surface Type: λ/2@632.8nm Smoothness: 60-40 Eccentricity: <3' Effective Aperture: >90% Chamfering: <0.2×45° Coating: Multi-layer AR Coating. Its placement is located directly in front of the laser emitter 8, so that the laser light can pass through the plane side of the D-shaped column and radiate from the curved surface, thereby generating a surface light source.
如图2所示，所述机械仿生鱼6包括：鱼体轮廓a、鱼尾b、电池c、微型处理器程控芯片d、上部线圈e、下部线圈f、条形磁铁g。在鱼体轮廓a内设有上部线圈e、下部线圈f，其对称分布于鱼体后部的两侧，鱼体的下方设有电池仓，其中装有电池c，电池c的正、负极由导线与微型处理器程控芯片d连接，微型处理器程控芯片d输出端分别连接上部线圈e、下部线圈f，两个线圈的中间设有一个可以摆动的条形磁铁g，条形磁铁g与伸出鱼体轮廓a的鱼尾b相连。当微型处理器程控芯片d的输出端输出不同频率电流时，线圈的磁性将使条形磁铁g产生吸引与排斥反应，从而带动鱼尾b产生简谐运动，这种运动类似活鱼鱼尾的摆动。微型处理器程控芯片d基于ICL8038程控芯片，通过给出了电路元件参数，调节输出信号的频率和电压幅度调节的范围，使鱼尾的摆动产生不同的波动方程，从而获取更多的摆动姿势。As shown in FIG. 2 , the mechanical bionic fish 6 includes: a fish body profile a, a fish tail b, a battery c, a microprocessor program control chip d, an upper coil e, a lower coil f, and a bar magnet g. An upper coil e and a lower coil f are arranged in the outline a of the fish body, which are symmetrically distributed on both sides of the rear of the fish body, and a battery compartment is provided below the fish body, in which a battery c is housed, and the positive and negative poles of the battery c are provided by The wire is connected to the microprocessor program control chip d, the output end of the microprocessor program control chip d is respectively connected to the upper coil e and the lower coil f, and a swingable bar magnet g is arranged in the middle of the two coils, and the bar magnet g is connected to the extension The tail b of the fish body outline a is connected to each other. When the output terminal of the microprocessor program control chip d outputs different frequency currents, the magnetism of the coil will cause the bar magnet g to generate attraction and repulsion reactions, thereby driving the fish tail b to produce simple harmonic motion, which is similar to the tail of a live fish swing. Microprocessor program control chip d is based on ICL8038 program control chip, by giving circuit component parameters, adjusting the frequency of the output signal and the range of voltage amplitude adjustment, so that the swing of the fish tail produces different wave equations, so as to obtain more swing postures.
所述透明玻璃钢水槽1为四周透明的矩形玻璃钢水槽，其规格为长×宽×高＝1m× 0.5m×0.5m。The transparent FRP water tank 1 is a rectangular FRP water tank with transparent surroundings, and its specification is length×width×height=1m×0.5m×0.5m.
所述PIV示踪粒子2为粒径为10μm、密度1.02g/cm-3的空心玻璃粒子。其密度与水体接近，能较好的悬浮于水体中而不产生沉降，因此具有良好的跟随性。The PIV tracer particles 2 are hollow glass particles with a diameter of 10 μm and a density of 1.02 g/cm-3. Its density is close to the water body, and it can be suspended in the water body without subsidence, so it has good followability.
所述CCD摄像机5采用Mikrotron公司的MC1311型高速摄影机，在1024×512的分辨率下以1000Hz的频率，进行自上而下垂直拍摄水槽内PIV示踪粒子2的运动。The CCD camera 5 adopts the MC1311 high-speed camera of Mikrotron Company, and at a resolution of 1024×512 at a frequency of 1000 Hz, vertically photographs the movement of the PIV tracer particles 2 in the water tank from top to bottom.
所述高能激光器8连接激光供电器10，高能激光器7在激光供电器10的持续供电下产生的点光源。The high-energy laser 8 is connected to 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 .
一种仿生鱼摆尾的压力场测量方法，CCD摄像机5获取的视频通过后处理系统7进行分析，从而获取瞬时速度场；获取的速度场包括拍摄区域的空间坐标X、Y以及各方向的速度分量u、v；从测量的速度场数据中获取压力场，其基本原理是通过求解N-S的变形形式即可获取压力场。A method for measuring the pressure field of a bionic fish wagging its tail. The video captured by the CCD camera 5 is analyzed by the post-processing system 7 to obtain the instantaneous velocity field; the acquired velocity field includes the spatial coordinates X and Y of the shooting area and the velocity in each direction Components u and v; the pressure field is obtained from the measured velocity field data, and the basic principle is to obtain the pressure field by solving the deformation form of N-S.
本发明主要阐述有限容积法，其又称为有限体积法，基本思路是：The present invention mainly sets forth the finite volume method, which is also called the finite volume method, and the basic idea is:
如图3所示，将计算区域划分为一系列的不重复的控制体积，在控制体积上通过离散微分方程进行求解；同理，在PIV的图像处理系统中，往往是将图像分解为若干个大小相等的矩形区域，该区域称为查问区，PIV计算的速度数据，存放于查问区的中心，这恰好与同位网格十分相似，只是查问区的中心只有速度值，没有压力值，因此可以通过离散 N-S方程来获取压力值；As shown in Figure 3, the calculation area is divided into a series of non-repetitive control volumes, and the discrete differential equations are used to solve the control volumes; similarly, in the PIV image processing system, the image is often decomposed into several A rectangular area of equal size is called the query area, and the velocity data calculated by PIV is stored in the center of the query area, which happens to be very similar to the homolocation grid, except that the center of the query area only has velocity values and no pressure values, so it can be Obtain the pressure value by discrete N-S equation;
N-S方程如下所示：The N-S equation looks like this:
其中ρ是流体的密度，ux、uy分别是是x，y方向上的速度分量，X、Y指的是，x、y 方向上的质量力，在国内外的研究中表面，质量力的远远小于其他力的影响，P是压强，μ是流体的动力粘度，与流体运动时的温度有关。Among them, ρ is the density of the fluid, u x and u y are the velocity components in the x and y directions respectively, and X and Y refer to the mass force in the x and y directions. In the research at home and abroad, the surface mass force is far less than the influence of other forces, P is the pressure, and μ is the dynamic viscosity of the fluid, which is related to the temperature when the fluid is moving.
在简化过程中，忽略质量力的影响，故上面两式写成：In the process of simplification, the influence of mass force is ignored, so the above two formulas are written as:
上式中：ux、uy可以通过PIV的实验测得，因此，对上式进行离散化处理，利用PIV 测得的速度场就可以得到两个方向的压力梯度，进而可以得到流域的压力场。In the above formula: u x and u y can be measured by PIV experiment, therefore, the above formula is discretized, and the pressure gradient in two directions can be obtained by using the velocity field measured by PIV, and then the pressure of the watershed can be obtained field.
对微分项的处理，要得到压力梯度首先要求方程右边各微分项的值，以x方向为例For the processing of differential items, to obtain the pressure gradient, the value of each differential item on the right side of the equation is first required, taking the x direction as an example
对项，right item,
其中，对于x方向上的压力梯度项的直接积分路径是在控制网格界面上e，w；n，s 进行水平和竖直方向的积分，从而对整个控制容积进行二重积分，化为对x方向上压力差值在y方向上的一重积分。Pe指的是e点的压强，Pw指的是w界面处的压强。Δy指的控制容积上沿着y方向上单元格的长度。where, for the direct integration of the pressure gradient term in the x direction The path is to integrate e, w; n, s in the horizontal and vertical directions on the control grid interface, so that the double integral of the entire control volume is converted into a single integral of the pressure difference in the x direction in the y direction . P e refers to the pressure at point e, and P w refers to the pressure at the interface w. Δy refers to the length of the cell along the y direction in the control volume.
对项，right item,
其中，ux、uy分别是是x，y方向上的速度分量，uex、uwx、unx、usx分别是在e、w、n、s 点沿着x方向的速度，uey、uwy、uny、usy分别是在e、w、n、s点沿着y方向的速度。对项，的直接积分，指的是沿路径e，w；n，s是在控制网格界面上进行水平和竖直方向的积分，从而对整个控制容积单元进行二重积分。Pe指的是 e点的压强，Pw指的是w界面处的压强。Δx指的控制容积上沿着x方向上单元格的长度。Among them, u x and u y are the velocity components in the x and y directions respectively, u ex , u wx , u nx , and u sx are the velocities along the x direction at points e, w, n, and s respectively, and u ey , u wy , u ny , u sy are the velocities along the y direction at points e, w, n, and s, respectively. right The direct integration of the term, refers to the integration along the path e, w; n, s in the horizontal and vertical directions on the control grid interface, so as to perform double integration on the entire control volume unit. P e refers to the pressure at point e, and P w refers to the pressure at the interface w. Δx refers to the length of the cell along the x-direction in the control volume.
对项，right item,
其中，uXE、uXW、uXN、uXS、uXP分别是在e、w、n、s、p点沿着x方向的速度，uYE、 uYW、uYN、uYS、uYp分别是在e、w、n、s、p点沿着y方向的速度；。Δx指的控制容积上沿着x方向上单元格的长度；Δy指的控制容积上沿着y方向上单元格的长度。对于在控制容积上的积分分别化为沿着x，y方向上的一重积分。Among them, u XE , u XW , u XN , u XS , u XP are the velocities along the x direction at points e, w, n, s, p respectively, u YE , u YW , u YN , u YS , u Yp are the velocities along the y direction at points e, w, n, s, and p respectively; Δx refers to the length of the cell along the x direction on the control volume; Δy refers to the length of the cell along the y direction on the control volume. for The integral over the control volume is reduced to a single integral along the x, y directions, respectively.
上述控制容积中心P、W、E、N、S处的速度值为PIV测得，Δx、Δy为PIV互相关计算的步长，界面e、w、s、n上的速度均为未知，但可采用插值的方法得到，采用二阶迎风格式得到各界面处的速度值，这是有限体积法的一贯做法，经过整理终得到：The velocities at the centers of the above-mentioned control volumes P, W, E, N, and S are measured by PIV, Δx and Δy are the step sizes for PIV cross-correlation calculations, and the velocities on the interfaces e, w, s, and n are all unknown, but It can be obtained by interpolation, and the velocity value at each interface is obtained by using the second-order upwind method, which is the consistent practice of the finite volume method. After sorting out, we finally get:
同理，对y方向动量积分、整理得到：In the same way, the momentum in the y direction is integrated and arranged to get:
其中，Pe、Pw、Pn、Ps分别是控制容积界面e、w、n、s处的压强，各单元网格上的界面压差Pe-Pw、Pn-Ps得到后，在网格系统中选取一个参考压力点，而所选取的压力参考点数据，为微型压力传感器4实时监测的压力值，将其带入上式中即可得到各界面处准确的压力值，若网格足够密，取PP＝(Pe+Pw+Pn+Ps)/4，即可以得到控制容积中心的压力值。Among them, Pe, Pw, Pn, and Ps are the pressures at the interface e , w , n , and s of the control volume respectively. Select a reference pressure point in the grid system, and the selected pressure reference point data is the pressure value monitored in real time by the miniature pressure sensor 4, and bring it into the above formula to obtain the accurate pressure value at each interface. If the grid If it is dense enough, take P P =(P e +P w +P n +P s )/4, that is, the pressure value at the center of the control volume can be obtained.
以上述的实例，布置装置，使高速摄像机在1000帧率/秒下拍摄视频，拍摄区域范围为12cm*8cm，为按照上述方法拍摄机械鱼尾部的流场变化的图片如图4-6所示：Taking the above example, arrange the device so that the high-speed camera shoots video at a rate of 1000 frames per second, and the range of the shooting area is 12cm*8cm. The pictures of the flow field changes at the tail of the mechanical fish are taken according to the above method, as shown in Figure 4-6 :
鱼体尾部拍摄的图片，如图4所示；The picture taken at the tail of the fish body is shown in Figure 4;
经过后处理系统可以获取其速度场云图，如图5所示；After the post-processing system, the velocity field cloud map can be obtained, as shown in Figure 5;
按照上述所示的压力场算法，即可获取鱼尾处的压力场云图，如图6所示。According to the pressure field algorithm shown above, the cloud image of the pressure field at the tail of the fish can be obtained, as shown in Figure 6.
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