动力学模型辨识是机器人控制设计的基础,是水下机器人研究的核心内容之一。以Falcon水下机器人的动力学模型为研究对象,在模型适当简化的基础上,提出基于小波级数模型的水下机器人动力学在线辨识方法,选取DOG(Derivative of Gaussian)...动力学模型辨识是机器人控制设计的基础,是水下机器人研究的核心内容之一。以Falcon水下机器人的动力学模型为研究对象,在模型适当简化的基础上,提出基于小波级数模型的水下机器人动力学在线辨识方法,选取DOG(Derivative of Gaussian)小波作为小波函数,对Falcon水下机器人纵向自由度动力学模型进行自适应辨识。针对水下机器人动力学模型的时变特性,研究负载特性变化情况下的系统辨识,得出了基于DOG小波级数模型的水下机器人动力学在线算法更加有效。展开更多
Fishes that use undulatory locomotion occasionally change their inherent kinematics in terms of some natural behavior.This special locomotion pattern was vividly dubbed "hybrid kinematics" by biologists rece...Fishes that use undulatory locomotion occasionally change their inherent kinematics in terms of some natural behavior.This special locomotion pattern was vividly dubbed "hybrid kinematics" by biologists recently.In this paper,we employed a physical model with body shape of a Mackerel(Scomber scombrus),to use the three most typical undulatory kinematics:anguillform,carangiform and thunniform,to investigate the hydrodynamic performance of the so-called "hybrid kinematics" biological issue.Theoretical models of both kinematics and hydrodynamics of the physical model swimming were developed.Base on this model,the instantaneous force produced by fish undulatory body and flapping tail were calculated separately.We also quantitatively measured the hydrodynamic variables of the robotic model swimming with the three undulatory kinematics on an experimental apparatus.The results of both theoretical model and experiment showed that the robot with thunniform kinematics not only reaches a higher speed but also is more efficient during steady swimming mode.However,anguilliform kinematics won the speed race during the initial acceleration.Additionally,the digital particle image velocimetry(DPIV) results showed some difference of the wake flow generated by the robotic swimmer among the three undulatory kinematics.Our findings may possibly shed light on the motion control of a biomimetic robotic fish and provide certain evidence of why the "hybrid kinematics" exists within the typical undulatory locomotion patterns.展开更多
文摘动力学模型辨识是机器人控制设计的基础,是水下机器人研究的核心内容之一。以Falcon水下机器人的动力学模型为研究对象,在模型适当简化的基础上,提出基于小波级数模型的水下机器人动力学在线辨识方法,选取DOG(Derivative of Gaussian)小波作为小波函数,对Falcon水下机器人纵向自由度动力学模型进行自适应辨识。针对水下机器人动力学模型的时变特性,研究负载特性变化情况下的系统辨识,得出了基于DOG小波级数模型的水下机器人动力学在线算法更加有效。
基金supported by the National Natural Science Foundation of China (Grant No. 61075100)
文摘Fishes that use undulatory locomotion occasionally change their inherent kinematics in terms of some natural behavior.This special locomotion pattern was vividly dubbed "hybrid kinematics" by biologists recently.In this paper,we employed a physical model with body shape of a Mackerel(Scomber scombrus),to use the three most typical undulatory kinematics:anguillform,carangiform and thunniform,to investigate the hydrodynamic performance of the so-called "hybrid kinematics" biological issue.Theoretical models of both kinematics and hydrodynamics of the physical model swimming were developed.Base on this model,the instantaneous force produced by fish undulatory body and flapping tail were calculated separately.We also quantitatively measured the hydrodynamic variables of the robotic model swimming with the three undulatory kinematics on an experimental apparatus.The results of both theoretical model and experiment showed that the robot with thunniform kinematics not only reaches a higher speed but also is more efficient during steady swimming mode.However,anguilliform kinematics won the speed race during the initial acceleration.Additionally,the digital particle image velocimetry(DPIV) results showed some difference of the wake flow generated by the robotic swimmer among the three undulatory kinematics.Our findings may possibly shed light on the motion control of a biomimetic robotic fish and provide certain evidence of why the "hybrid kinematics" exists within the typical undulatory locomotion patterns.
