机器海豚拍动动力学建模与推进性能优化  

Dynamic model and performance optimization of flapping dynamics of robot dolphin

作　　者：李亮亮 薛志斌 LI Liangliang;XUE Zhibin(College of Mechanical Engineering,Qinghai University,Xining 810016,China;College of Chemical Engineering,Qinghai University,Xining 810016,China)

机构地区：[1]青海大学机械工程学院,青海西宁810016 [2]青海大学化工学院,青海西宁810016

出　　处：《青海大学学报》2020年第5期66-73,共8页Journal of Qinghai University

基　　金：国家自然科学基金项目(61663040,61165016);青海省科学技术厅项目(2017-GX-103)。

摘　　要：为了研究海豚拍动推进机理,获取高效的推进性能,文中利用凯恩方法建立了机器海豚动力学模型。采用流—固耦合方法获取关节运动参数优化的约束条件,并利用APSO算法对关节拍动频率、最大拍动幅度和关节相位差进行优化研究。将优化结果输入到PID控制器中,从而对机器海豚的拍动运动进行控制。仿真结果表明:相比优化前关节运动参数,优化后的机器海豚推进力提高了1.1758 N。流—固耦合和APSO算法相结合的优化模型具有较高的力学推进性能。In order to examine the mechanism of flapping propulsion of dolphin and to obtain high-efficiency propulsion performance,a dynamic model of robot dolphin is established by using Kane method.The Fluid-structure Coupling Method is firstly used to obtain the constraint conditions of optimizing the parameters of joints motion,and the APSO algorithm is used to improve the frequency of joints flapping,maximum flapping amplitude and phase-difference of joints.Then the results of optimization are imported into the PID controller so as to control the flapping motion.The simulation results show that the propulsion force of the optimized robot dolphin is increased by 1.1758N compared with the parameters of joints motion before optimization.The optimization model combined with Fluid-structure Coupling Method and APSO algorithm has a high-level pertormance of mechanical propulsion.

关 键 词：拍动推进 动力学建模 关节运动参数 PID控制器 优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]