基于CFD的仿鲹科机器鱼动力学建模与运动控制  

CFD-based Dynamic Modeling and Motion Control Method for a Carangiform Robotic Fish

作　　者：张宜阳[1] 汪明[1] 杜晓彬 王昆仑 ZHANG Yiyang;WANG Ming;DU Xiaobin;WANG Kunlun(School of Information and Electrical Engineering,Shandong Jianzhu University,Jinan 250101,China)

机构地区：[1]山东建筑大学信息与电气工程学院,济南250101

出　　处：《计算机测量与控制》2022年第4期121-127,共7页Computer Measurement &Control

基　　金：国家自然科学基金项目(62073196,U1806204)。

摘　　要：仿生机器鱼的运动控制是仿生机器鱼推广应用的基础;然而,仿鲹科机器鱼的推进一般采用鱼体波数据,很少采用真实鱼类游动数据;为了深入探究仿鲹科机器鱼运动控制方法,采用了计算流体力学方法,通过标定流体介质、来流速度、鱼体几何形状等措施,利用Fluent软件进行了建模,然后针对鱼体波数据和真实金枪鱼游动采样数据两种不同推进数据对仿生机器鱼进行了仿真和实验;结果表明对于多关节仿生机器鱼推进方面,真实金枪鱼游动采样数据相较于常见的鱼体波产生的推进数据,在躯干进行大幅值摆动的情况下效果更好;这一仿真和实验对比为仿鲹科机器鱼的高效运动控制提供了一种新思路。The motion control of the robotic fish is the basis for the promotion and application of the robotic fish.However,the drive of the carangiform robotic fish generally uses the data of fish body wave,and rarely uses the data of real fish swimming.In order to deeply explore the method of motion control of the trevally-like robotic fish,using the method of computational fluid dynamics,and the Fluent software is used to model by calibrating the fluid medium,inflow velocity,fish geometry and other measures.Then,the simulation and experiment of the robotic fish are carried out according to two different propulsion data,which is the data of fish body wave and the sampling data of real tuna swimming.The simulation results show that for the multi-joint robotic fish drive,compared with the propulsion data generated by the common fish body wave,the data of real tuna swimming sampling is more effective than that of usual fish wave when the torso swings with a large value.The comparison of simulation and experiment provides a new idea for the efficient motion control of the carangiform robotic fish.

关 键 词：仿生机器鱼 运动控制 动力学建模 计算流体力学 鱼体波 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]