胸鳍/尾鳍协同推进的机器海豚动力学建模与仿真

Dynamic Modeling and Simulation of Robotic Dolphin with Cooperative Propulsion of Pectoral Fin/Caudal Fin Propulsion

动力学模型是机器海豚研究的一个重点和难点。基于胸鳍/尾鳍协同推进模式,采用"叶片单元法"建立2自由度胸鳍动力学模型,根据伯努利原理和大展弦比机翼平衡理论提出尾鳍动力学模型。通过MATLAB进行数值仿真,获取胸鳍、尾鳍的运动规律和不同模式下的游动速度;进一步分析机器海豚的游动模式和运动参数对直游性能的影响,为机器海豚的设计提供理论依据。该研究有助于进一步认识和研究海豚的运动机理,从而提高机器海豚的游动性能。

Dynamic model is an important and difficult point in the study of robotic dolphin.Based on the pectoral fin/caudal fin coordinated propulsion mode,a two degrees of freedom pectoral fin dynamic model is established by using the blade element method.According to Bernoulli principle and the balance theory of high aspect ratio wing,the caudal fin dynamic model is proposed.Through the numerical simulation of MATLAB,the motion laws of pectoral fin and caudal fin and the swimming speed in different modes are obtained.Furthermore,the influence of swimming mode and motion parameter son the straight swimming performance of robotic dolphin is analyzed.It provides a theoretical basis for the design of robotic dolphin,which is helpful to further understand and study the motion mechanism of dolphin,so as to improve the swimming performance of robotic dolphin.