仿生水下机器人运动控制方法研究

近年来仿生技术在水下机器人上的应用已经成为水下机器人的重要研究方向之一.仿生水下机器人采用尾鳍提供前进动力和改变航向,比传统的桨舵具有高效性和高机动性.根据仿生水下机器人水池试验结果讨论了其运动性能,并在此基础上提出了仿生水下机器人运动控制方法,最后通过仿真试验验证了该方法.根据试验结果得出,针对现阶段仿生水下机器人的运动能力,其控制内容和控制方法是合理、有效的.研究和试验表明,符合实际的仿真模型与可行的运动控制方法使仿生水下机器人运动性能得到了不断的完善和改进;最终实现"仿生-Ⅰ"号的纵向速度控制、艏向控制和深度控制,从而使其具有大范围的转移能力.

Research of bionic underwater vehicle's motion control

The application of bionic technology in underwater vehicles has been more attractive recently. Compared with the traditional propeller and rudder, the bionic UV,inspired by the fish,cruises and turns by its caudal fin, which gives more efficiency and more maneuverability. After a discussion of the movement capability of the bionic UV in water tank tests, a method to control its motion was put forward. The feasibility of this method was validated by simulation experiments. Through research experiments, it is concluded that a practical simulation model and feasible motion control improve the movement capability of a bionic UV,at the same time realizing the velocity, yaw and depth control of the bionic UV.