仿生振动翼推进器模糊控制实验研究  

Fuzzy Control of Biomimetic Propulsion Using Flapping Foil

作　　者：文力[1] 范哲[1] 王田苗[1] 梁建宏[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《机器人》2010年第3期306-313,共8页Robot

基　　金：国家杰出青年科学基金资助项目(60525314)

摘　　要：在水洞中对月牙尾鳍状的振动翼进行了水动力学实验,并讨论了St数、相对攻角、无量纲振幅、相位差为涡流控制参数的振动翼仿生推进的涡流控制方法.在尾鳍推进器平台上进行自由航行实验,结果表明,通过模糊控制方法主动控制振动翼的St数以及其余涡流控制参数,可以有效地减小平台的功耗,获取更高的游动速度,平台游动速度最高达1.87m/s,同时振动翼尾鳍的St数被控制在0.4～0.5.Flapping lunate tail is studied through hydrodynamic test in water channel,and proper vorticity control methods for flapping foil propulsion are discussed based on the principal vorticity parameters,such as Strouhal number（St）,angle of attack,the dimensionless transverse amplitude,and phase difference.Free-swimming test is carried out on an unmanned underwater vehicle with flapping tail.The results show that power consumption of vehicle can be reduced effectively through active control of St and other vorticity parameters using fuzzy control methods,and greater swimming speed can be obtained.The maximum swimming speed as high as 1.87 m/s is measured.Meanwhile,St of flapping tail is controlled within the range of 0.4～0.5.

关 键 词：振动翼 涡流控制 仿生水下航行器 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]