潜器动力定位的仿生鱼尾推进控制分析

Control Analysis of Bionic Tail Propulsion for Submarine Dynamic Positioning

以仿生鱼尾推进器为研究对象,建立仿生鱼尾动力学模型和以仿鱼尾推进的潜器动力定位模型。利用仿真试验得出的数据分析仿生鱼尾摆动频率、摆动幅度和各关节之间相位差等因素对仿生鱼尾推进性能的影响,采用PID控制算法对仿鱼尾推进的潜器在一维方向的动力定位进行仿真。仿真结果表明,仿生鱼尾推进在潜器的动力定位中可以实现初步的性能要求。

Taking the bionic fishtail underwater propeller as the study object, the bionic fishtail dynamics model and the dynamic positioning model of submersible with the bionic＇fish tail propulsion are established The influence of tail swing frequency, swing amplitude and phase difference of each joint on the propulsion performance of bionic fishtail is analyzed by using the simulation data. The PID control algorithm is applied to the dynamic positioning with fishtail propulsion in one-dimensional direction. The simulation results show that the bionic fishtail propulsion can achieve the initial performance requirements in the dynamic positioning of the submersible.