CN115489658B - Bionic drag reduction method, device and equipment for underwater vehicle and readable storage medium - Google Patents
Bionic drag reduction method, device and equipment for underwater vehicle and readable storage medium Download PDFInfo
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- CN115489658B CN115489658B CN202211333361.9A CN202211333361A CN115489658B CN 115489658 B CN115489658 B CN 115489658B CN 202211333361 A CN202211333361 A CN 202211333361A CN 115489658 B CN115489658 B CN 115489658B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/32—Other means for varying the inherent hydrodynamic characteristics of hulls
- B63B1/40—Other means for varying the inherent hydrodynamic characteristics of hulls by diminishing wave resistance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/32—Other means for varying the inherent hydrodynamic characteristics of hulls
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The application discloses a bionic drag reduction method, device and equipment for an underwater vehicle and a readable storage medium. Acquiring first flow field flow velocity data sent by a sensor module arranged in the underwater vehicle through data acquisition of a region where the sensor module is arranged, determining to send a target pulse width modulation signal to a driving module arranged in the underwater vehicle according to the first flow field flow velocity data from the corresponding relation between the flow velocity and the pulse width modulation signal when the bionic cortex structure receives minimum resistance under preset different flow velocity conditions, and enabling the bionic cortex structure arranged on the surface of the underwater vehicle to deform in a target mode. According to the embodiment of the application, the deformation of the bionic cortex structure is controlled according to the received flow velocity information, and the resistance of the bionic cortex structure is reduced, so that the resistance of the underwater vehicle is reduced, and the energy consumption of the underwater vehicle is reduced.
Description
Technical Field
The application belongs to the technical field of bionic drag reduction, and particularly relates to a bionic drag reduction method, device and equipment for an underwater vehicle and a readable storage medium.
Background
In recent years, ocean economy is greatly developed in all countries of the world, and manufacturing and technical research of equipment related to underwater vehicles are supported. When the underwater vehicle sails in the ocean, the energy consumption is high due to the need of overcoming the resistance of seawater, and the energy is difficult to supplement in the ocean, so that the development of ocean economy is restricted to a certain extent.
The research shows that the shark can swim in water at high speed, and the shield-shaped scales continuously paved on the surface of the shark can effectively reduce the resistance of the shark when swimming mainly by the specificity of the surface cortex structure. In the prior art, bionic drag reduction equipment which simulates the construction of shark skin exists, but the structure of the bionic drag reduction equipment is fixed, and the drag reduction effect is generally poor.
Thus, there is a need for a biomimetic underwater drag reducer with good drag reducing effect.
Disclosure of Invention
The embodiment of the application provides a bionic drag reduction method, device and equipment for an underwater vehicle and a computer storage medium, which can reduce the resistance of the underwater vehicle.
In one aspect, an embodiment of the present application provides a bionic drag reduction method for an underwater vehicle, where the bionic drag reduction method for an underwater vehicle includes:
Acquiring first flow field flow rate data, wherein the first flow field flow rate data is transmitted by a sensor module arranged on the underwater vehicle through acquiring data of an area where the underwater vehicle is located;
according to the first flow field flow rate data, determining a target pulse width modulation signal corresponding to the first flow field flow rate data from the corresponding relation between the flow rate and the pulse width modulation signal when the bionic cortex structure receives minimum resistance under preset different flow rate conditions;
and sending the target pulse width modulation signal to a driving module arranged in the underwater vehicle, so that the driving module sends target excitation voltage to a bionic cortex structure arranged on the underwater vehicle according to the target pulse width modulation signal, and the bionic cortex structure is subjected to target deformation, wherein the bionic cortex structure subjected to the target deformation is in a flow velocity corresponding to the flow velocity data of the first flow field, and the resistance is minimum.
Optionally, before determining the target pwm signal corresponding to the first flow field flow rate data, the method further includes:
for each preset flow rate in a flow field, determining a deformation amount of the bionic cortex structure when the resistance of the bionic cortex structure is minimum under the flow rate, and determining a first corresponding relation between the flow rate and the deformation amount;
Determining a second corresponding relation between the deformation quantity and the excitation voltage according to the excitation voltage received when the bionic cortex structure generates the deformation quantity;
determining a third corresponding relation between the excitation voltage and the pulse width modulation signal according to the pulse width modulation principle;
and determining the corresponding relation between the flow rate and the target pulse width modulation signal according to the first corresponding relation, the second corresponding relation and the third corresponding relation.
In another aspect, an embodiment of the present application provides a bionic drag reduction device for an underwater vehicle, including:
the system comprises a data acquisition unit, a data transmission unit and a control unit, wherein the data acquisition unit is used for acquiring first flow field flow rate data which are transmitted by a sensor module arranged on the underwater vehicle through acquiring data of an area where the underwater vehicle is located;
the determining unit is used for determining a target pulse width modulation signal corresponding to the first flow field flow rate data from the corresponding relation between the flow rate and the pulse width modulation signal when the bionic cortex structure receives minimum resistance under preset different flow rate conditions according to the first flow field flow rate data;
The transmitting unit is used for transmitting the target pulse width modulation signal to a driving module arranged in the underwater vehicle so that the driving module transmits target excitation voltage to a bionic cortex structure arranged on the underwater vehicle according to the target pulse width modulation signal;
the driving unit is used for enabling the bionic cortex structure to generate target deformation, wherein the resistance of the bionic cortex structure subjected to the target deformation is minimum in the flow velocity corresponding to the flow velocity data of the first flow field.
In still another aspect, an embodiment of the present application provides a bionic drag reduction apparatus for an underwater vehicle, the bionic drag reduction apparatus for an underwater vehicle comprising:
the sensor module is arranged on the surface of the underwater vehicle, is connected with the control module, and is used for collecting first flow field flow velocity data of the area where the underwater vehicle is located and sending the first flow field flow velocity data to the control module;
the control module is arranged in the underwater vehicle, is respectively connected with the sensor module and the driving module, and is used for determining a target pulse width modulation signal corresponding to the first flow field flow velocity data from the corresponding relation between the flow velocity and the pulse width modulation signal when the bionic cortex structure receives minimum resistance under preset different flow velocity conditions according to the received first flow field flow velocity data and sending the target pulse width modulation signal to the driving module;
The driving module is arranged in the underwater vehicle, is respectively connected with the control module and the bionic cortex structure and is used for converting the target pulse width modulation signal into a target excitation voltage for controlling the deformation of the bionic cortex structure;
the bionic cortex structure is arranged on the surface of the underwater vehicle, is connected with the driving module and is used for generating target deformation corresponding to the target excitation voltage under the excitation of the target excitation voltage.
Optionally, the bionic cortex structure is a bionic shark skin drag reduction structure.
Optionally, the bionic cortex structure at least comprises a dielectric elastomer.
Optionally, the bionic cortex structure is made by additive manufacturing techniques.
Optionally, the bionic cortex structure includes:
a substrate for attachment to a surface of the underwater vehicle;
the scale structures are fixed on one side of the substrate, which is far away from the underwater vehicle, and are used for generating target deformation corresponding to the target excitation voltage under the excitation of the target excitation voltage.
Optionally, the method comprises the following steps:
the bionic cortex structures are multiple and are arranged on the surface of the underwater vehicle in a segmented mode;
The sensor modules are respectively arranged on one side of each bionic cortex structure and correspond to the bionic cortex structures one by one;
the driving modules are arranged in the underwater vehicle, and each driving module is connected with a single bionic cortex structure.
In yet another aspect, embodiments of the present application provide a computer readable storage medium having stored thereon computer program instructions that when executed by a processor implement a method of biomimetic drag reduction for an underwater vehicle as described above.
In yet another aspect, embodiments of the present application provide a computer program product, instructions in which, when executed by a processor of an electronic device, cause the electronic device to perform a method of biomimetic drag reduction for an underwater vehicle as described above.
The bionic drag reduction method, device, equipment and computer storage medium of the underwater vehicle can be based on the corresponding relation between the flow velocity and the pulse width modulation signal when the bionic cortex structure receives the minimum resistance under the preset different flow velocity conditions. And controlling the deformation of the bionic cortex structure according to the received flow velocity information of the flow field where the underwater vehicle is positioned, and reducing the resistance of the bionic cortex structure, thereby reducing the resistance of the underwater vehicle and reducing the energy consumption of the underwater vehicle.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings that are needed to be used in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.
FIG. 1 is a schematic structural view of a bionic drag reducing apparatus for an underwater vehicle according to yet another embodiment of the present application;
FIG. 2 is a schematic diagram of the positional relationship of a bionic drag reducing apparatus for an underwater vehicle according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a connection of a bionic drag reducing apparatus for an underwater vehicle according to one embodiment;
FIG. 4 is a schematic structural diagram of a bionic cortex structure according to an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating deformation of a bionic cortical structure according to an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating deformation of a bionic cortical structure according to another embodiment of the present application;
FIG. 7 is a schematic diagram of a connection provided by an embodiment of the present application;
FIG. 8 is a schematic diagram of interactions of a bionic drag reduction device according to one embodiment of the present application;
FIG. 9 is a flow chart of a method for biomimetic drag reduction for an underwater vehicle according to one embodiment of the present application;
FIG. 10 is a schematic structural view of a bionic drag reduction device for an underwater vehicle according to another embodiment of the present application;
fig. 11 is a schematic hardware structure of a control module according to an embodiment of the present application.
Detailed Description
Features and exemplary embodiments of various aspects of the present application will be described in detail below, and in order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings and the detailed embodiments. It should be understood that the particular embodiments described herein are meant to be illustrative of the application only and not limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the application by showing examples of the application.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
In recent years, the world has developed a great deal of high-tech technology related to the ocean field, especially the research on the matching devices of underwater vehicle machines. In general, the drag reduction effect of underwater vehicles is extremely important because of the large resistance to motion in seawater.
The research shows that the sharks such as the whale shark and the short tail real shark can swim in water at high speed, and the shield-shaped scales continuously paved on the surface of the sharks can effectively reduce the resistance of the sharks during swimming mainly by the specificity of the surface cortex structure of the sharks. Part of researches show that when a shark walks, scales on the surface of the shark can be erected or outwards opened for a certain angle, and the resistance of the shark can be reduced in the process of erecting the scales. Accordingly, the present application provides a method, apparatus, device and readable storage medium for biomimetic drag reduction of an underwater vehicle.
In order to solve the problems in the prior art, the embodiment of the application provides a bionic drag reduction method, device and equipment for an underwater vehicle and a readable storage medium.
The bionic drag reduction equipment of the underwater vehicle provided by the embodiment of the application is first described below.
Fig. 1 shows a schematic structural diagram of a bionic drag reduction device for an underwater vehicle according to an embodiment of the present application. As shown in fig. 1.
The bionic drag reduction device 100 of the underwater vehicle comprises a sensor module 101, a control module 102, a driving module 103 and a bionic cortex structure 104. The bionic drag reducing apparatus 100 of the underwater vehicle is applied to the underwater vehicle 110.
The sensor module 101 is arranged on the surface of the underwater vehicle, is connected with the control module 102, and is used for collecting first flow field flow rate data of an area where the underwater vehicle is located and sending the first flow field flow rate data to the control module 102;
the control module 102 is arranged in the underwater vehicle, is respectively connected with the sensor module 101 and the driving module 103, and is used for determining a target pulse width modulation signal corresponding to the first flow field flow velocity data from the corresponding relation between the flow velocity and the pulse width modulation signal when the bionic cortex structure 104 receives minimum resistance under the preset different flow velocity conditions according to the received first flow field flow velocity data, and sending the target pulse width modulation signal to the driving module 103;
the driving module 103 is arranged in the underwater vehicle, is respectively connected with the control module 102 and the bionic cortex structure 104, and is used for converting a target pulse width modulation signal into a target excitation voltage for controlling deformation of the bionic cortex structure 104;
The bionic cortex structure 104 is arranged on the surface of the underwater vehicle, is connected with the driving module 103, and is used for generating target deformation corresponding to the target excitation voltage under the excitation of the target excitation voltage.
Specifically, first, the sensor module 101 and the bionic cortex structure 104 are both disposed on the surface of the underwater vehicle, and the driving module 103 and the control module 102 are both disposed inside the underwater vehicle. As shown in fig. 2, fig. 2 is a schematic diagram illustrating a positional relationship of a bionic drag reduction device of an underwater vehicle according to an embodiment of the present application. The sensor module 101 is disposed on an outer surface of a front end of the underwater vehicle, the bionic cortex structure 104 is disposed on the outer surface of the underwater vehicle and is close to the sensor module 101, and the driving module 103 and the control module 102 are disposed inside the underwater vehicle.
Secondly, the sensor module 101 and the driving module 103 are connected with the control module 102, and the driving module 103 is also connected with the bionic cortex structure 104. As shown in fig. 3, fig. 3 is a schematic diagram of a connection relationship of a bionic drag reducing apparatus for an underwater vehicle according to an embodiment of the present application, wherein a connection line 201 is used to represent a connection between the sensor module 101 and the control module 102, a connection line 202 is used to represent a connection between the control module 102 and the driving module 103, and a connection line 203 is used to represent a connection between the driving module 103 and the bionic skin structure 104.
The sensor module 101 and the control module 102, the control module 102 and the driving module 103, and the driving module 103 and the bionic cortex structure 104 may be connected by wires, or may be connected by other modes, specifically, by which mode, the present application is not limited and may be set according to requirements.
The sensor module 101 is configured to collect first flow field flow rate data of an area where the underwater vehicle is located. The sensor module 101 may be a sensor such as a DX-LSX-1 doppler ultrasonic flowmeter or a LS1206B flow rate meter, and the sensor module 101 is not limited to this specific sensor, and may be set as required. After the sensor module 101 collects the first flow field flow rate data of the area where the underwater vehicle is located, the first flow field flow rate data can be sent to the control module 102.
The control module 102 is configured to determine, according to the received flow rate data of the first flow field sent by the sensor module 101, a pulse width modulation signal corresponding to a flow rate identical to the flow rate data of the first flow field from a corresponding relationship between a flow rate and a pulse width modulation signal when the bionic skin structure 104 receives a minimum resistance under different flow rates in a flow field of the preset bionic skin, as a target pulse width modulation signal corresponding to the flow rate data of the first flow field.
The correspondence between the flow rate and the pulse width modulation signal is that, for each preset flow rate, the deformation amount of the bionic cortex structure 104 in the flow field corresponding to the water flow at the flow rate is adjusted, when the deformation amount is determined to be minimum, the excitation voltage received by the bionic cortex structure 104 is determined, and when the driving module 103 outputs the driving voltage, the received pulse width modulation signal is determined, so that the correspondence between the flow rate and the pulse width modulation signal is determined. And thus the corresponding relation between each flow velocity and the pulse signal is determined. Of course, when determining the pwm signal corresponding to the driving voltage, the pwm signal corresponding to the driving voltage may be determined based on the principle of pwm. The control module 102 can adopt chips of ATMEGA328-PU model, ATMEGA328-PB model and the like as main control chips, and specifically adopts any chip as the main control chip, so that the application is not limited and can be set according to requirements.
The driving module 103 is configured to receive the target pwm signal sent by the control module 102, and send a target excitation voltage to the bionic cortex 104 based on a pwm principle in response to the pwm signal. The driving module 103 may be an L298N motor driving module 103, an a4950 motor driving module 103, or the like, and the specific device adopted by the driving module 103 may be set according to needs, which is not limited by the present application. It should be noted that, the driving module 103 determines the output voltage as a product of the duty ratio and the highest output voltage according to the duty ratio of the received pwm signal and the preset highest output voltage. Thus, in one or more embodiments of the present application, the maximum output voltage of the driving module 103 is greater than or equal to the maximum excitation voltage of the bionic skin structure 104, and the maximum excitation voltage of the bionic skin structure 104 may be 36 volts (V), 20V, 54V, etc., and the maximum excitation voltage may be set according to the needs, which is not limited by the present application.
The bionic cortex structure 104 is configured to send a target deformation corresponding to a target excitation voltage sent by the driving module 103 when receiving the excitation of the target excitation voltage.
It should be noted that, in one or more embodiments of the present application, the bionic skin layer structure 104 includes any one of the dielectric elastomers (Dielectric Elastomer, DE) such as polyacrylate elastomer, polyurethane and its composite material, silicone rubber and its composite material, and thus, the bionic skin layer structure 104 may deform when receiving an excitation voltage.
In addition, as part of researches show that when the shark walks, the scales on the surface of the shark can be erected or outwards opened at a certain angle, and the resistance of the shark can be reduced in the process of erecting the fish scales. Thus, in one or more embodiments of the present application, the biomimetic cortical structure 104 may comprise a substrate 1041 and a plurality of scale structures 1042. The base 1041 is for attachment to a surface of the underwater vehicle. The plurality of scale structures 1042 are attached to one side of the substrate 1041 away from the underwater vehicle, and the plurality of scale structures 1042 are used for generating target deformation corresponding to the target excitation voltage under the excitation of the target voltage. As shown in fig. 4 and fig. 5, fig. 4 is a schematic structural diagram of a bionic cortex structure according to an embodiment of the application, wherein the bionic cortex structure 104 includes a substrate 1041 and a plurality of scale structures 1042, and the bionic cortex structure 104 does not receive an excitation voltage and the plurality of scale structures 1042 are not deformed. Fig. 5 is a schematic deformation diagram of a bionic cortex structure according to an embodiment of the present application, where the bionic cortex structure 104 includes a substrate 1041 and a plurality of scale structures 1042, and the bionic cortex structure 104 receives an excitation voltage with a voltage of a v at present, and the plurality of scale structures 1042 are deformed at a first angle.
In addition, in order to ensure that the target deformation of the scales of the bionic cortex structure 104 under the excitation of the target excitation voltage corresponds to the same direction, and improve the drag reduction effect, in one or more embodiments of the present application, the scales of the bionic cortex structure 104 are arranged and distributed by adopting a preset distribution rule, where the distribution rule includes a scale orientation, a scale interval, and the like.
In addition, as the gritty is one of fishes with the highest swimming speed in the ocean, researches show that the gritty, the short tail real shark and the like can swim in water at high speed, and the shield-shaped scales continuously paved on the surface of the gritty can effectively reduce the resistance of the gritty when swimming mainly depending on the specificity of the surface cortex structure. Thus, in one or more embodiments of the application, the biomimetic skin structure 104 is a biomimetic shark skin drag reducing structure. The multiple scale structures 1042 included in the bionic cortex structure 104 are all shark scale structures 1042 which are the same as scales of sharks such as whale scales and short-tail real sharks. Of course, the multiple scale structures 1042 included in the bionic cortex structure 104 can also be manually adjusted based on the shark-like scale structure 1042, and the specific style of the multiple scale structures 1042 of the bionic cortex structure 104 can be set according to the needs, and the application is not limited.
Additionally, in one or more embodiments of the application, the biomimetic cortical structure 104 may be fabricated by additive manufacturing (3D printing) techniques. Of course, the bionic cortex structure 104 may be made by other methods, and the specific manner of the method is not limited, and may be set according to the requirement.
In addition, in one or more embodiments of the present application, when the underwater vehicle is in different flow field flow rates, the flow rate signals sent by the sensing module to the control module 102 are different, so that when the control module 102 receives the minimum resistance on the basis of the preset different flow rate conditions, the corresponding relationship between the flow rate and the pulse width modulation signal is different, and the pulse width modulation signal sent to the driving module 103 is different, so that the excitation voltage sent by the driving module 103 to the bionic skin structure 104 is also different, and thus, the deformation amount of the scales of the bionic skin structure 104 is also different. That is, when the underwater vehicle is in different flow field flow rates, the bionic cortex structure 104 can deform differently, thereby improving the drag reduction effect of the bionic drag reduction device and reducing the energy consumption of the underwater vehicle.
As shown in fig. 5 and fig. 6, in fig. 5, the bionic cortex structure 104 includes a substrate 1041 and a plurality of scale structures 1042, and the bionic cortex structure 104 receives an excitation voltage with a voltage of a v, and the scale structures 1042 deform at a first angle. Fig. 6 is a schematic diagram illustrating deformation of a bionic cortex structure according to another embodiment of the present application, wherein the bionic cortex structure 104 includes a substrate 1041 and a plurality of scale structures 1042, and the bionic cortex structure 104 receives an excitation voltage with a magnitude of b volts at present, and the scale structures 1042 deform at a second angle, wherein a is smaller than b, and it is seen that the first angle is smaller than the second angle.
In addition, the signal sent by the flow rate sensor is typically an analog voltage signal, and thus, in one or more embodiments of the present application, the first flow field flow rate data sent by the sensor module 101 is also an analog voltage signal. Since the analog voltage signal may be inaccurate and subject to errors, the control module 102 may filter the first flow field flow rate data after receiving the first flow field flow rate data in the form of the analog voltage signal.
Thus, in one or more embodiments of the application, the control module 102 includes a data processing sub-module 1021 and a control sub-module 1022. The data processing submodule 1021 is used for carrying out moving average filtering processing on the received first flow field flow velocity data. The control submodule 1022 is configured to determine, from a corresponding relationship between the flow rate and the pwm signal when the bionic cortex structure 104 receives the minimum resistance under a preset different flow rate condition, a target pwm signal corresponding to the flow rate data of the first flow field after the moving average filtering process is completed, and send the target pwm signal to the driving module 103. In this regard, the present application is not described herein for brevity, since the prior art is mature in this regard.
In addition, since the information sent by the driver module 103 to the biomimetic cortical structure 104 is an excitation voltage, and the electrical signal is typically propagated by wires, and the electrical signal is typically propagated through two wires, in one or more embodiments of the present application, the driver module 103 includes a first output interface 1031 and a second output structure 1032. The biomimetic cortical structure 104 further includes a first contact 1043 and a second contact 1044. The driving module 103 and the bionic cortex structure 104 can be connected through a first wire and a second wire. As shown in fig. 7, fig. 7 is a schematic connection diagram according to an embodiment of the application, wherein the first contact 1043 and the second contact 1044 are disposed on two sides of the substrate 1041. The first contact 1043 is connected to the first output interface 1031 of the driving module 103 by the first wire, and the second contact 1044 is connected to the second output interface 1032 of the driving module 103 by the second wire.
In addition, since the underwater vehicle may have a certain volume and length, and the flow rates of seawater are different in the flow fields of different regions in the seawater, in one or more embodiments of the present application, the bionic drag reducing apparatus of the underwater vehicle includes a plurality of sensor modules 101, a plurality of driving modules 103, a plurality of bionic skin structures 104, and at least one control module 102. Wherein the plurality of bionic cortex structures 104 are distributed on the surface of the underwater vehicle in a segmented manner. For each bionic cortex structure 104, there is a single sensor module 101 and a single driving module 103 corresponding to each bionic cortex structure 104, and the sensor module 101 corresponding to the bionic cortex structure 104 is configured at one side of the bionic cortex structure 104. And, the bionic cortex structure 104 is connected with a driving module 103 corresponding to the bionic cortex structure 104, and the driving module 103 corresponds to the sensor module 101. The control module 102 has multiple target pwm signal outputting and multiple sensing signal receiving functions, and the control module 102 can send the driving signal to the driving module 103 corresponding to the sensor module 101 after receiving the first flow field flow rate data sent by any one of the sensor modules 101 and determining the driving signal corresponding to the first flow field flow rate data. As shown in fig. 8, fig. 8 is an interaction schematic diagram of a bionic drag reduction device according to an embodiment of the present application. The bionic cortex structure 104a, the bionic cortex structure 104a and the bionic cortex structure 104c are distributed on the surface of the underwater vehicle 110 in a segmented mode, the sensor module 101a is arranged on one side of the bionic cortex structure 104a, the sensor module 101b is arranged on one side of the bionic cortex structure 104b, the sensor module 101c is arranged on one side of the bionic cortex structure 104c, and the driving module 103a, the driving module 103b, the driving module 103c and the control module 102 are all arranged inside the underwater vehicle 110. After the sensor module 101a sends the first flow field flow rate data to the control module 102, the control module 102 sends a first pulse width modulation signal to the driving module 103a, and after the driving module 103a receives the first pulse width modulation signal, the driving module sends a first excitation voltage to the bionic cortex structure 104a, and the bionic cortex structure 104a generates a first target deformation. And after the sensor module 101b sends the second flow field flow rate data to the control module 102, the control module 102 sends a second pulse width modulation signal to the driving module 103b, and after the driving module 103b receives the second pulse width modulation signal, the second driving module sends a second excitation voltage to the bionic cortex structure 104b, and the bionic cortex structure 104b generates a second target deformation. Similarly, after the sensor module 101c sends the second flow field flow rate data to the control module 102, the control module 102 sends a second pulse width modulation signal to the driving module 103c, and after the driving module 103c receives the second pulse width modulation signal, a second excitation voltage is sent to the bionic cortex structure 104c, and the bionic cortex structure 104c undergoes a second target deformation.
The bionic drag reduction method of the underwater vehicle provided by the embodiment of the application is described below.
Fig. 9 shows a flow diagram of a bionic drag reduction method for an underwater vehicle according to an embodiment of the present application. As shown in fig. 9:
s901: and acquiring first flow field flow rate data, wherein the first flow field flow rate data is transmitted by a sensor module arranged on the underwater vehicle through acquiring data of an area where the underwater vehicle is located.
In the application, the bionic drag reduction method of the underwater vehicle can be executed by the control module of the bionic drag reduction device provided by the other embodiment of the application.
As a part of researches show, when the shark swims, the scales on the surface of the shark can be erected or outwards opened for a certain angle, and the resistance of the shark can be reduced in the process of erecting the scale. Thus, in one or more embodiments of the present application, the deformation of the bionic skin structure provided to the underwater vehicle may be adjusted to reduce the resistance to the bionic skin structure, thereby reducing the resistance to the underwater vehicle and saving energy of the underwater vehicle. Moreover, experiments show that the deformation quantity with the best resistance reducing effect of the bionic cortex structure is different under different flow rates, so that the control module can acquire the flow rate data of the first flow field where the underwater vehicle is located.
Specifically, the control module may acquire first flow field flow rate data, where the first flow field flow rate data is a flow rate of a sensor module (flow rate sensor) configured on the surface of the underwater vehicle by acquiring an area where the underwater vehicle is located, and send the flow rate data to the control module.
By adopting the mode, the control module can acquire the current water flow speed of the water area where the underwater vehicle is located so as to determine the deformation quantity of the bionic cortex structure, so that the bionic cortex transmits the deformation corresponding to the deformation quantity, the optimal drag reduction effect is achieved, and the energy of the underwater vehicle is saved.
S902: and determining a target pulse width modulation signal corresponding to the first flow field flow rate data from the corresponding relation between the flow rate and the pulse width modulation signal when the bionic cortex structure receives minimum resistance under preset different flow rate conditions according to the first flow field flow rate data.
In one or more embodiments of the present application, after determining the first flow field flow rate data, the control module may determine a pulse width modulation signal from a preset correspondence between a flow rate and the pulse width modulation signal, and send the pulse width modulation signal.
Specifically, the control module may determine, according to the received flow rate data of the first flow field, a corresponding pulse width modulation signal as a target pulse width modulation signal from a correspondence between a flow rate and a pulse width modulation signal when the bionic cortex structure receives a minimum resistance under a preset different flow rate condition.
In one or more embodiments of the present application, in order to determine the deformation amount of the bionic cortex structure with the best drag reduction effect at each flow rate, and the excitation voltage corresponding to each deformation amount, the control module or the user may preferably determine the corresponding relationship between the flow rate and the pulse width modulation signal.
Firstly, the control module can determine, for each preset flow rate, a deformation amount of the bionic cortex structure when the resistance of the bionic cortex structure is minimum under the flow field of the flow rate, and determine a corresponding relationship between the flow rate and the deformation amount as a first corresponding relationship.
And secondly, the control module can determine the corresponding relation between the deformation quantity and the excitation voltage as a second corresponding relation according to the excitation voltage received when the bionic cortex structure generates the deformation quantity.
And the control module can determine the corresponding relation between the excitation voltage and the pulse width modulation signal as a third corresponding relation according to the pulse width modulation principle. Of course, since the maximum output voltages of the pulse width modulation voltage driving modules of different signals are different, the control module can also determine the corresponding relationship between the excitation voltage and the pulse width modulation signal as the third corresponding relationship according to the pulse width modulation principle and the maximum output voltage of the driving module.
Finally, the control module can determine the corresponding relation between the flow rate and the pulse width modulation signal according to the first corresponding relation, the second corresponding relation and the third corresponding relation. Thereby determining the correspondence between each flow rate and the pulse width modulation signal.
By adopting the mode, the control module can determine the pulse width modulation signal corresponding to the first flow field flow velocity signal according to the received first flow field flow velocity signal so as to deform the bionic cortex structure and reduce the resistance.
S903: and sending the target pulse width modulation signal to a driving module arranged in the underwater vehicle, so that the driving module sends target excitation voltage to a bionic cortex structure arranged on the underwater vehicle according to the target pulse width modulation signal.
S904: and enabling the bionic cortex structure to generate target deformation, wherein the resistance of the bionic cortex structure subjected to the target deformation is minimum in the flow velocity corresponding to the flow velocity data of the first flow field.
In one or more embodiments of the present application, the control module may send the pulse width modulated signal to a drive module disposed within the underwater vehicle after determining the pulse width modulated signal to deform the biomimetic cortical structure.
Specifically, the control module may send the pulse width modulated signal to a drive module disposed within the underwater vehicle. And the driving module determines and transmits target excitation voltage to a bionic cortex structure arranged on the underwater vehicle according to the target pulse width modulation signal, so that the bionic cortex structure is subjected to target deformation. The bionic cortex structure subjected to the target deformation receives the smallest resistance in the flow velocity corresponding to the flow velocity data of the first flow field.
By adopting the mode, the control module can enable the bionic cortex structure to deform in a target mode, so that the resistance of the bionic cortex structure in the flow velocity corresponding to the flow velocity data of the first flow field is minimum, and the energy consumption of the underwater vehicle is reduced.
By adopting the method, the control module can be based on the corresponding relation between the flow velocity and the pulse width modulation signal when the bionic cortex structure receives the minimum resistance under the preset different flow velocity conditions. And controlling the deformation of the bionic cortex structure according to the received flow velocity information of the flow field where the underwater vehicle is positioned, and reducing the resistance of the bionic cortex structure, thereby reducing the resistance of the underwater vehicle and reducing the energy consumption of the underwater vehicle.
Based on the bionic drag reduction method of the underwater vehicle provided by the embodiment, correspondingly, the application further provides a specific implementation mode of the drag reduction device of the underwater vehicle. Please refer to the following examples.
Referring first to fig. 10, the drag reducing device for an underwater vehicle provided by the embodiment of the present application includes the following units:
a data acquisition unit 1010 that acquires first flow field flow rate data that is transmitted by a sensor module disposed on the underwater vehicle by acquiring data of an area where the underwater vehicle is located;
a determining unit 1020, configured to determine, according to the first flow field flow rate data, a target pulse width modulation signal corresponding to the first flow field flow rate data from a correspondence between a flow rate and a pulse width modulation signal when the bionic cortex structure receives a minimum resistance under a preset different flow rate condition;
the transmitting unit 1030 transmits the target pulse width modulation signal to a driving module disposed in the underwater vehicle, so that the driving module transmits a target excitation voltage to a bionic cortex structure disposed on the underwater vehicle according to the target pulse width modulation signal;
And the driving unit 1040 is configured to enable the bionic cortex structure to generate target deformation, where resistance of the bionic cortex structure after the target deformation is received is minimum in a flow velocity corresponding to the flow velocity data of the first flow field.
With the above device, the data acquisition unit 1010 may receive flow rate information of a flow field in which the underwater vehicle is located. And when the bionic cortex structure receives the minimum resistance based on the preset different flow rate conditions, the determining unit 1020 determines a target pulse width modulation signal according to the corresponding relation between the flow rate and the pulse width modulation signal, and the transmitting unit 1030 transmits the target pulse width modulation signal to the bionic cortex structure, so that the deformation of the bionic cortex structure is controlled, the resistance of the bionic cortex structure is reduced, the resistance of the underwater vehicle is reduced, and the energy consumption of the underwater vehicle is reduced.
As an implementation manner of the present application, in order to improve the drag reduction effect, the apparatus may further include:
determining the sub-unit 1021: the method comprises the steps of determining a deformation amount of the bionic cortex structure when the resistance of the bionic cortex structure is minimum at the flow rate according to each preset flow rate, determining a first corresponding relation between the flow rate and the deformation amount, determining a second corresponding relation between the deformation amount and the excitation voltage according to excitation voltage received when the bionic cortex structure generates the deformation amount, determining a third corresponding relation between the excitation voltage and a pulse width modulation signal according to a pulse width modulation principle, and determining the corresponding relation between the flow rate and the target pulse width modulation signal according to the first corresponding relation, the second corresponding relation and the third corresponding relation.
Fig. 11 shows a schematic hardware structure of a control module according to an embodiment of the present application.
The control module may include a processor 1101 and a memory 1102 storing computer program instructions.
In particular, the processor 1101 may comprise a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured as one or more integrated circuits that implement embodiments of the present application.
Memory 1102 may include mass storage for data or instructions. By way of example, and not limitation, memory 1102 may comprise a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of the foregoing. Memory 1102 may include removable or non-removable (or fixed) media where appropriate. Memory 1102 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 1102 is a non-volatile solid state memory.
In particular embodiments the memory may include Read Only Memory (ROM), random Access Memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors) it is operable to perform the operations described with reference to methods in accordance with aspects of the present disclosure.
The processor 1101 reads and executes the computer program instructions stored in the memory 1102 to implement the biomimetic drag reduction method of an underwater vehicle of any of the above embodiments.
In one example, the biomimetic drag reducing device of the underwater vehicle may further include a communication interface 1103 and a bus 1110. As shown in fig. 9, the processor 1101, the memory 1102, and the communication interface 1103 are connected to each other through a bus 1110 and perform communication with each other.
The communication interface 1103 is mainly used for implementing communication between each module, device, unit and/or apparatus in the embodiment of the present application.
Bus 1110 includes hardware, software, or both, that couple the components of the online data flow billing device to each other. By way of example, and not limitation, the buses may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a micro channel architecture (MCa) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus, or a combination of two or more of the above. Bus 1110 can include one or more buses, where appropriate. Although embodiments of the application have been described and illustrated with respect to a particular bus, the application contemplates any suitable bus or interconnect.
The bionic drag reduction device of the underwater vehicle can execute the bionic drag reduction method of the underwater vehicle based on the currently intercepted garbage short message and the short message reported by the user, thereby realizing the bionic drag reduction method and the device of the underwater vehicle described in connection with fig. 9 and 10.
In addition, in combination with the bionic drag reduction method of the underwater vehicle in the above embodiment, the embodiment of the application can be realized by providing a computer storage medium. The computer storage medium has stored thereon computer program instructions; the computer program instructions, when executed by the processor, implement a biomimetic drag reduction method for an underwater vehicle of any of the embodiments described above.
It should be understood that the application is not limited to the particular arrangements and instrumentality described above and shown in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after appreciating the spirit of the present application.
The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments mentioned in this disclosure describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.
Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to being, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware which performs the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the foregoing, only the specific embodiments of the present application are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present application is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present application, and they should be included in the scope of the present application.
Claims (9)
1. A biomimetic drag reducing apparatus for an underwater vehicle, comprising:
the sensor module is arranged on the surface of the underwater vehicle, is connected with the control module, and is used for collecting first flow field flow velocity data of the area where the underwater vehicle is located and sending the first flow field flow velocity data to the control module;
the control module is arranged in the underwater vehicle, is respectively connected with the sensor module and the driving module, and is used for determining a target pulse width modulation signal corresponding to the first flow field flow velocity data from the corresponding relation between the flow velocity and the pulse width modulation signal when the bionic cortex structure receives minimum resistance under preset different flow velocity conditions according to the received first flow field flow velocity data and sending the target pulse width modulation signal to the driving module;
the driving module is arranged in the underwater vehicle, is respectively connected with the control module and the bionic cortex structure and is used for converting the target pulse width modulation signal into a target excitation voltage for controlling the deformation of the bionic cortex structure;
the bionic cortex structure is arranged on the surface of the underwater vehicle, is connected with the driving module and is used for generating target deformation corresponding to the target excitation voltage under the excitation of the target excitation voltage;
The bionic cortex structure comprises:
a substrate for attachment to a surface of the underwater vehicle;
the scale structures are fixed on one side of the substrate, far away from the underwater vehicle, and are used for generating target deformation of a first angle corresponding to the target excitation voltage under the excitation of the target excitation voltage, wherein the target deformation generated by the scale structures corresponds to the same direction;
the plurality of scale structures are in a convex shape which is bent towards the same side, the convex shape is provided with three edges which are connected end to end, and one edge of the convex shape forms a convex fixed end which is connected with the substrate; the other two sides of the bulge comprise an inner arc line close to the substrate and an outer arc line far away from the substrate, the inner arc line and the outer arc line form a bulge free end, and the free end is in a floating state; the arc length of the outer arc is greater than that of the inner arc.
2. The simulated drag reduction apparatus of an underwater vehicle of claim 1, wherein said simulated skin structure is a simulated shark skin drag reduction structure.
3. The simulated drag reduction apparatus of an underwater vehicle of claim 1, wherein said simulated cortical structure comprises at least a dielectric elastomer.
4. The simulated drag reduction device of an underwater vehicle of any of claims 1-3, wherein said simulated cortical structure is fabricated by additive manufacturing techniques.
5. The simulated drag reduction apparatus of an underwater vehicle as claimed in claim 1, comprising:
the bionic cortex structures are multiple and are arranged on the surface of the underwater vehicle in a segmented mode;
the sensor modules are respectively arranged on one side of each bionic cortex structure and correspond to the bionic cortex structures one by one;
the driving modules are arranged in the underwater vehicle, and each driving module is connected with a single bionic cortex structure.
6. A bionic drag reduction method for an underwater vehicle, applied to a control module of a bionic drag reduction device in claim 1, comprising:
acquiring first flow field flow rate data, wherein the first flow field flow rate data is transmitted by a sensor module arranged on the underwater vehicle through acquiring data of an area where the underwater vehicle is located;
according to the first flow field flow rate data, determining a target pulse width modulation signal corresponding to the first flow field flow rate data from the corresponding relation between the flow rate and the pulse width modulation signal when the bionic cortex structure receives minimum resistance under preset different flow rate conditions;
The target pulse width modulation signal is sent to a driving module arranged in the underwater vehicle, so that the driving module sends target excitation voltage to a bionic cortex structure arranged on the underwater vehicle according to the target pulse width modulation signal, and the bionic cortex structure is subjected to target deformation, wherein the bionic cortex structure subjected to the target deformation has the minimum resistance in the flow velocity corresponding to the flow velocity data of the first flow field;
wherein, the bionic cortex structure includes: a substrate for attachment to a surface of the underwater vehicle; the scale structures are fixed on one side of the substrate, far away from the underwater vehicle, and are used for generating target deformation of a first angle corresponding to the target excitation voltage under the excitation of the target excitation voltage, wherein the target deformation generated by the scale structures corresponds to the same direction; the plurality of scale structures are in a convex shape which is bent towards the same side, the convex shape is provided with three edges which are connected end to end, and one edge of the convex shape forms a convex fixed end which is connected with the substrate; the other two sides of the bulge comprise an inner arc line close to the substrate and an outer arc line far away from the substrate, the inner arc line and the outer arc line form a bulge free end, and the free end is in a floating state; the arc length of the outer arc is greater than that of the inner arc.
7. The method of claim 6, wherein prior to determining the target pulse width modulated signal corresponding to the first flow field flow rate data, the method further comprises:
for each preset flow rate in a flow field, determining a deformation amount of the bionic cortex structure when the resistance of the bionic cortex structure is minimum under the flow rate, and determining a first corresponding relation between the flow rate and the deformation amount;
determining a second corresponding relation between the deformation quantity and the excitation voltage according to the excitation voltage received when the bionic cortex structure generates the deformation quantity;
determining a third corresponding relation between the excitation voltage and the pulse width modulation signal according to the pulse width modulation principle;
and determining the corresponding relation between the flow rate and the target pulse width modulation signal according to the first corresponding relation, the second corresponding relation and the third corresponding relation.
8. A drag reducing apparatus for an underwater vehicle, the apparatus comprising:
the system comprises a data acquisition unit, a data transmission unit and a control unit, wherein the data acquisition unit is used for acquiring first flow field flow rate data which are transmitted by a sensor module arranged on the underwater vehicle through acquiring data of an area where the underwater vehicle is located;
The determining unit is used for determining a target pulse width modulation signal corresponding to the first flow field flow rate data from the corresponding relation between the flow rate and the pulse width modulation signal when the bionic cortex structure receives minimum resistance under preset different flow rate conditions according to the first flow field flow rate data;
the transmitting unit is used for transmitting the target pulse width modulation signal to a driving module arranged in the underwater vehicle so that the driving module transmits target excitation voltage to a bionic cortex structure arranged on the underwater vehicle according to the target pulse width modulation signal;
the driving unit is used for enabling the bionic cortex structure to generate target deformation, wherein the resistance of the bionic cortex structure subjected to the target deformation is minimum in the flow velocity corresponding to the flow velocity data of the first flow field;
wherein, the bionic cortex structure includes: a substrate for attachment to a surface of the underwater vehicle; the scale structures are fixed on one side of the substrate, far away from the underwater vehicle, and are used for generating target deformation of a first angle corresponding to the target excitation voltage under the excitation of the target excitation voltage, wherein the target deformation generated by the scale structures corresponds to the same direction; the plurality of scale structures are in a convex shape which is bent towards the same side, the convex shape is provided with three edges which are connected end to end, and one edge of the convex shape forms a convex fixed end which is connected with the substrate; the other two sides of the bulge comprise an inner arc line close to the substrate and an outer arc line far away from the substrate, the inner arc line and the outer arc line form a bulge free end, and the free end is in a floating state; the arc length of the outer arc is greater than that of the inner arc.
9. A computer readable storage medium having stored thereon computer program instructions which when executed by a processor implement a biomimetic drag reduction method of an underwater vehicle as claimed in any of claims 6-7.
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