| 仿生机器鱼尾鳍的动力学研究 |
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| 引用本文： | 俞经虎,竺长安,朱家祥,钟小强,程刚,陈宏,张屹.仿生机器鱼尾鳍的动力学研究[J].系统仿真学报,2005,17(4):947-949,953. |
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| 作者姓名： | 俞经虎 竺长安 朱家祥 钟小强 程刚 陈宏 张屹 |
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| 作者单位： | 1. 江南大学,江苏无锡,420026
2. 中国科学技术大学,安徽合肥,230026 |
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| 摘 要： | 高的稳定性是仿生机器鱼高效推进的前提，而对尾鳍的稳定性控制是实现仿生机器鱼稳定性的主要方法。通过“二维波动板”理论，建立了三节仿生机器鱼的动力学模型，并对模型进行了实验验证，由该模型出发，分别计算出水动力和惯性力引起的尾鳍驱动力矩的值，分析了该值与仿生机器鱼各个运动参数的联系。为仿生机器鱼的稳定性控制建立了理论基础。
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| 关 键 词： | 稳定性 控制 力矩 惯性力 |
| 文章编号： | 1004-731X(2005)04-0947-03 |
Research of Steady Control of Tail Fin of Robotic-fish |
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| YU Jing-hu,ZHU Chang-an,ZHU Jia-Xiang,Zhong Xiao-qiang,CHENG Gang,CHEN Hong,ZHANG Yi.Research of Steady Control of Tail Fin of Robotic-fish[J].Journal of System Simulation,2005,17(4):947-949,953. |
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| Authors: | YU Jing-hu ZHU Chang-an ZHU Jia-Xiang Zhong Xiao-qiang CHENG Gang CHEN Hong ZHANG Yi |
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| Affiliation: | YU Jing-hu1,ZHU Chang-an2,ZHU Jia-xiang2,ZHONG Xiao-qiang2,CHENG Gang2,CHEN Hong2,ZHANG Yi2 |
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| Abstract: | High stability is the precondition of the high propulsive efficiency for robotic-fish and the steady control of the tail fin is the mail method to increase the stability of the robotic-fish. It is established the dynamic model of robotic-fish through the theory of planar wave plank and validated the dynamic model through experiment. On the basis of the dynamic model, it is calculated the value of the drive moment produced by the hydrodynamic and inertial force, and the relation between this value with the kinetic parameters of robotic-fish is analyzed. Our work prepare the academic base for the steady control of robotic-fish. |
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| Keywords: | stability control moment inertial force |
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