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基于尾鳍攻角的机器海豚推进控制研究 被引量:2

Propulsive control for robotic dolphin based on fluke′s attack angle
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摘要 研究了尾鳍攻角对机器海豚推进的影响,以绕有限翼展机翼不可压缩流动理论为基础,将机器海豚的尾鳍建模为有限翼展机翼并进行了受力分析,得出了尾鳍攻角变化律与推进力及推进效率之间的关系.将两关节的机器海豚视为一个多刚体系统,给出了在不考虑机器海豚头部垂直晃动情况下的动力学方程.基于尾鳍攻角变化律得到动力学方程的迭代求解形式,通过正弦和斜齿波尾鳍攻角变化律的仿真对不同攻角规律下的推进效果进行了验证.仿真结果表明:在速度和推进力方面正弦波的攻角变化有一定优势. 研究了尾鳍攻角对机器海豚推进的影响,以绕有限翼展机翼不可压缩流动理论为基础,将机器海豚的尾鳍建模为有限翼展机翼并进行了受力分析,得出了尾鳍攻角变化律与推进力及推进效率之间的关系.将两关节的机器海豚视为一个多刚体系统,给出了在不考虑机器海豚头部垂直晃动情况下的动力学方程.基于尾鳍攻角变化律得到动力学方程的迭代求解形式,通过正弦和斜齿波尾鳍攻角变化律的仿真对不同攻角规律下的推进效果进行了验证.仿真结果表明:在速度和推进力方面正弦波的攻角变化有一定优势.
出处 《华中科技大学学报(自然科学版)》 EI CAS CSCD 北大核心 2011年第S2期302-305,共4页 Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金 国家高技术研究发展计划资助项目(2009AA043901) 国家自然科学基金资助项目(60725309 60805038)
关键词 机器海豚 机翼 动力学方程 尾鳍攻角 推进效率 robotic dolphin airfoil dynamic equations fluke′s attack angle propulsive efficiency
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参考文献9

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同被引文献27

  • 1王龙,喻俊志,胡永辉,范瑞峰,霍继延,谢广明.机器海豚的机构设计与运动控制[J].北京大学学报(自然科学版),2006,42(3):294-301. 被引量:13
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