摘要
通过对小型水下机器人(Autonomous Underwater Vehicle,AUV)驱动装置进行设计,实现其前后方向上的悬停控制,提高在实际应用中的运动稳定性和作业精确度,以黑鲈鱼为仿生对象,通过影像观察、解剖分析等方法获取其胸鳍的结构模型、运动原理和动作参数。采用仿生设计方法,模拟构建一种类似黑鲈鱼胸鳍结构的驱动装置,并通过流体动力学仿真,验证该驱动装置在悬停控制上的有效性。结果表明:该仿生胸鳍驱动装置可在0.5 m/s正面水流下实现AUV前后方向上的快速悬停。
The hovering control of small underwater vehicle(AUV) along anterior and posterior direction was realized through the design of the driving device to improve the motion stability and operation accuracy in practical applications.The black bass was taken as the bionic object to obtain the structural model,motion principle and motion parameters of pectoral fins through image observation,anatomical analysis and other methods.A driving device similar to pectoral fin structure of black bass was simulated and constructed using bionic design method.The effectiveness of the driving device in hovering control was verified through hydrodynamic simulation.The results showed that the bionic pectoral fin driving device could realize rapid hovering of AUV along anterior and posterior direction under the frontal water flow velocity of 0.5 m/s.
作者
包海默
李京浩
冯鸣
许若麟
许坤
BAO Hai-mo;LI Jing-hao;FENG Ming;XU Ruo-lin;XU Kun(School of Design,Dalian Minzu University,Dalian 116600)
出处
《机械设计》
CSCD
北大核心
2022年第8期129-135,共7页
Journal of Machine Design
基金
辽宁省自然科学基金资助项目(2020-MZLN-01)
辽宁省教育厅科学研究经费资助项目(LJKR0016)。