摘要
基于鱼类快速起动的仿生学研究,建立了仿生机器鱼S形起动的运动方程,对S形起动的鱼体体干曲线波分别进行仿真计算和分析。通过解析鱼体受到的横向摆动流体举力、尾涡反作用力、边界层摩擦阻力和纵向附加质量力,建立快速起动的动力学模型。利用多步态的仿真实验,分析讨论了各起动性能指标的变化情况,并阐明了各运动控制参数对快速起动性能的影响。
Based on bionic research on fast-start of fish,the motion equations of S-start are established. Subsequently,law of motion of body centerline are simulated and expatiated.On the basis of research on thrust and drag as result of lateral oscillation of fish body,tailing vortex,boundary layer friction, added mass of lengthwise direction,dynamic model are acquired.The multi-gait simulating experiments display attributes of fast-start performance.For the purpose of improvements of swimming capability of fast-start, the relationships between motion parameters and performance index are elaborated deeply.
出处
《船舶力学》
EI
北大核心
2007年第5期647-654,共8页
Journal of Ship Mechanics
基金
国家自然科学基金重点资助项目(10332040)
关键词
仿生机器鱼
S形起动
运动方程
动力学模型
快速起动性能
fish-like underwater robot
S-start
kinematic equation
dynamic model
fast-start performance
