机器海豚的运动学及动力学建模和仿真

Modeling and simulation for kinematics and dynamics of dolphin robot

模拟海豚的背腹式运动机理开发新型的水下航行系统,将是微型智能潜艇发展的一个方向。作为基础性理论研究,本文以海豚背腹式摆动推进方程为基础,应用坐标变换的方法,建立了描述海豚尾鳍俯仰-沉浮运动的数学模型,在此基础上结合茹科夫斯基举力定理建立了机器海豚的动力学模型。运用Matlab软件对这第一个模型进行了仿真研究,分析了运动学参数ψ对海豚推进性能的影响,讨论了这个参数的最佳取值ψ≈90°。此项研究为机器海豚的设计实现提供了理论依据,同时有助于进一步认识和研究海豚的运动机理。

By simulating the motion of pitching and heaving of dolphin,it will be a direction for minisubmarine of intelligent to developing new underwater navigation system. On the basis of propulsive model, we deduced a mathematical model which is used to describe the motion of pitching and heaving of dolphin＇s caudal fin by ways of coordinate transformation. Then combined with lifting theorem of RU Khodorkovsky we establish a dynamic model for dolphin robot which can show the relationship between dynamics and related parameters. By the software of matlab,we analysed the prompting performance affected by parameter of ψ, meanwhile we discussed the best value of this paramaters. The result showed that the parameter affects the propulsive performance and the best value is about 90°. It is believable that the two models will be useful for the design of robot dolphin and also it will help us to know the dolphin＇s swimming principle more deeply.