We present a model for the self-propulsion of a circular cylindrical vehicle through a planar ideal fluid. The input to the system is the relative angular velocity of a balanced rotor mounted above the vehicle’s center of mass. A Kutta condition is enforced regularly in time at a point along the edge of the vehicle, enabling the exchange of momentum between the vehicle and the surrounding fluid through discrete vortex shedding. Between vortex-shedding events, the dynamics of the vehicle and its wake are governed by a system of equations with non-canonical Hamiltonian structure. We present simulation results depicting the translational acceleration of the vehicle from rest as a result of sinusoidal oscillations in the position of the rotor, and we demonstrate that the propulsive efficiency of such oscillations exhibits a relative maximum at a certain driving frequency.
- Dynamic Systems and Control Division
Up a Creek Without a Paddle: Idealized Aquatic Locomotion via Forward Vortex Shedding
Tallapragada, P, & Kelly, SD. "Up a Creek Without a Paddle: Idealized Aquatic Locomotion via Forward Vortex Shedding." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 221-225. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8863
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