摘要
高的稳定性是仿生机器鱼高效推进的前提,而对尾鳍的稳定性控制是实现仿生机器鱼稳定性的主要方法。通过“二维波动板“理论,建立了三节仿生机器鱼的动力学模型,并对模型进行了实验验证。由该模型出发,分别计算出水动力和惯性力引起的尾鳍驱动力矩的值,分析了该值与仿生机器鱼各个运动参数的联系。为仿生机器鱼的稳定性控制建立了理论基础。
High stability is the precondition of the high propulsive efficiency for robotic-fish and the steady control of the tail fin is the mail method to increase the stability of the robotic-fish. It is established the dynamic model of robotic-fish through the theory of planar wave plank and validated the dynamic model through experiment. On the basis of the dynamic model, it is calculated the value of the drive moment produced by the hydrodynamic and inertial force, and the relation between this value with the kinetic parameters of robotic-fish is analyzed. Our work prepare the academic base for the steady control of robotic-fish.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2005年第4期947-949,953,共4页
Journal of System Simulation
关键词
稳定性
控制
力矩
惯性力
stability
control
moment
inertial force
