中国舰船研究2026，Vol.21Issue(2)：21-45,25.DOI:10.19693/j.issn.1673-3185.04940
仿蝠鲼航行器多模态运动水动力机理研究综述
A review on the hydrodynamic mechanisms of multimodal motion in manta ray-inspired underwater vehicles
摘要
Abstract
At present,China's maritime security is facing two major challenges:the deterioration of the envi-ronment has led to a significant reduction in the area of islands and reefs,threatening territorial security;and the strict monitoring of strait passages has hindered the deployment of underwater forces.Unmanned underwa-ter vehicles are the core equipment for marine ecological protection and national security maintenance.How-ever,existing unmanned underwater vehicles are unable to meet multiple requirements simultaneously:Propeller-driven underwater vehicles have high speed and maneuverability,but they cause significant distur-bance to organisms,lack sufficient concealment,and are unable to accurately obtain ecological information or effectively respond to hostile control on sensitive passages;Underwater gliders have good range and conceal-ment,but their maneuverability is weak,and they cannot meet the requirements of complex tasks.It is urgent to develop biomimetic underwater vehicles that are biocompatible,quiet and concealed,have long-term self-sustainability,and can perform coordinated operations.Among them,the manta ray-inspired underwater vehi-cle adopts the mode of using its wide pectoral fins to achieve bowed gliding and alternating flapping move-ments,which performs outstandingly in terms of gliding efficiency,flapping maneuverability and motion sta-bility,and is an ideal biomimetic prototype.This work breaks through the limitations of previous studies,which mostly focused on a single motion mode.For the first time,it systematically reviewed the multi-modal motion hydrodynamic mechanisms of the the manta ray-inspired underwater vehicle from the individual to the cluster level,integrating various motion forms such as bowed gliding,continuous flapping,alternating gliding and flapping,and isomorphic/heteromorphic clusters into the same review framework.The study focused on analyzing the research progress in three key aspects:morphology and motion modeling methods,the efficient propulsion mechanism of the individual,and the coupling mechanism of the cluster flow field.In terms of modeling,key data such as the skeletal structure,shape parameters,and kinematic characteristics of the manta ray were selected,and the flapping mode,skeletal distribution,and kinematic laws of the pectoral fins were systematically revealed.In terms of single-body propulsion,the core mechanism of improving the lateral varia-tion of the flow line of the pectoral fins to achieve drag reduction through arched gliding and the key role of the chordal deformation of the pectoral fins in generating thrust were clarified.In terms of the cluster,research was conducted around factors such as the number of clusters,formation,spacing,and propulsion mode,and it was determined that the fusion and collision of the wake was the fundamental reason for the differences in hy-drodynamic performance among individual organisms.Based on this,a"modeling-mechanism-perfor-mance"research framework was initially formed,providing a theoretical basis for bionic design and optimiza-tion.However,breakthroughs are still needed in aspects such as model fidelity,non-stationary and complex environment mechanisms,and the transformation from theory to design.High-fidelity simulation models in-cluding real attachment structures should be developed.The research scope should be expanded to complex en-vironments such as cross-media entry and exit from water,expanding the operational boundaries and task ca-pabilities of the the manta ray-inspired underwater vehicle.The hydrodynamic mechanism in dynamic clusters should be explored,and research methods integrating artificial intelligence and autonomous swimming simula-tion should be developed to achieve overall hydrodynamic performance optimization during formation trans-formation and multimodal conversion processes.All of the above will promote the collaborative optimization of the configuration and motion strategies of the vehicle,enabling it to achieve a dynamic balance among high efficiency,high maneuverability and strong stability in complex and realistic marine environments and di-verse mission scenarios.This will lay an irreplaceable hydrodynamic foundation for the application of the manta ray-inspired underwater vehicle in deep and remote seas.关键词
仿生航行器/多模态运动/形态学及运动学建模/水动力机理Key words
bionic vehicle/multimodal motion/morphological and kinematic modeling/hydrodynamic mechanism分类
交通工程引用本文复制引用
高鹏骋,黄桥高,潘光,罗扬,王明东..仿蝠鲼航行器多模态运动水动力机理研究综述[J].中国舰船研究,2026,21(2):21-45,25.基金项目
中央高校青年教师科研创新能力支持项目 （）
国家重点研发计划资助项目(2022YFC2805200) （2022YFC2805200）
博士后创新人才支持计划(BX20250494) （BX20250494）
中国博士后科学基金面上项目(2025M774366) （2025M774366）
