胸鳍推进机器鱼俯仰稳定性分析  

Pitching Stability Analysis of the Pectoral Fin Propelled Robot Fish

作　　者：徐一村[1] 宗光华[2] 毕树生[2] 秦东晨[1] 

机构地区：[1]郑州大学机械工程学院,河南郑州450001 [2]北京航空航天大学机器人研究所,北京100083

出　　处：《机器人》2012年第3期375-379,共5页Robot

基　　金：国家863计划资助项目(20060104z2024)

摘　　要：胸鳍推进机器鱼的胸鳍在通过扑动产生推力的同时,也会产生纵向扰动,引起机身的俯仰运动,对应用产生一系列的影响.本文在传统潜艇稳定性概念的基础上建立了胸鳍推进机器鱼的俯仰稳定性模型,证明了机器鱼的俯仰运动系统是一个二阶线性系统;分析了由胸鳍扑动引入的扰动,证明其中包含常量分量、扑动频率的一倍频分量和二倍频分量.最后进行了样机的游动实验,实验结果间接证明了俯仰运动模型和胸鳍扑动扰动模型的正确性.While the pectoral fins of the pectoral fin propelled robot fish flapping for propulsion, they also bring a longi- tudinal disturbance. That may cause the pitching moment of the body, and affect the usage of the robot. A pitching stability model of the pectoral fin propelled robot fish is built based on the conception of the traditional submarine pitching stability. The pitching system of the robot fish is proved to be a second-order linear system. By analyses, it is proved that the distur- bance generated by the pectoral fins contains a constant component, one-time flapping-frequency component and two-time flapping-frequency component. Finally, a prototype swimming experiment is conducted. The experiment results indirectly prove that the pitching movement model and the flapping fins disturbance model are correct.

关 键 词：仿生 胸鳍推进 机器鱼 俯仰稳定性 

分 类 号：TH113[机械工程—机械设计及理论]