仿生机器鱼水动力学与机构动力学耦合建模研究  

Coupling Modeling of Hydrodynamics and Mechanism Dynamics of Bionic Robot Fish

作　　者：白发刚 薛钢[1,2,3,4] 黄健堃 刘延俊[1,2,3,4] BAI Fagang;XUE Gang;HUANG Jiankun;LIU Yanjun(Institute of Marine Science and Technology,Shandong University,Qingdao,Shandong 266237,China;Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of Ministry of Education,Shandong University,Jinan 250061,China;National Demonstration Center for Experimental Mechanical Engineering Education,Shandong University,Jinan 250061,China;School of Mechanical Engineering,Shandong University,Jinan 250061,China)

机构地区：[1]山东大学海洋研究院,山东青岛266237 [2]山东大学高效洁净机械制造教育部重点实验室,济南250061 [3]山东大学机械工程国家级实验教学示范中心,济南250061 [4]山东大学机械工程学院,济南250061

出　　处：《西安交通大学学报》2022年第9期46-56,共11页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目(52001186);山东省自然科学基金资助项目(ZR2020QE292)。

摘　　要：针对多关节仿生机器鱼自主游动过程的复杂动力学建模问题,利用中枢模式发生器产生机器鱼的关节驱动信号,采用细长体理论和Newton-Euler法建立了机器鱼水动力学和机构动力学耦合模型。将机器鱼物理模型的尾部关节角摆动规律作为动力学模型的运动输入,对比了数值仿真结果与物理模型实验结果,验证了耦合动力学模型的准确性。分析了机器鱼尾部关节间相位差、摆动角频率和摆动幅值对机器鱼游动性能的影响。结果表明:摆动角频率和最大摆动幅度在一定范围内与平均游速近似成正比,与头部稳定性成反比;相较于平均游速,头部稳定性对关节间相位差的变化更加敏感,较大的尾部关节间相位差能够获得更好的游动稳定性。相关结论可为进一步研究仿生机器鱼复杂轨迹跟踪问题提供前提和理论基础。For the complex dynamics modeling of the autonomous swimming process of the multi-joint bionic robot fish,the joint driving signals of the robot fish are generated by the central pattern generator,and the coupling model of the hydrodynamics and mechanism dynamics of the robot fish is established by using the slender body theory and Newton-Euler method.The tail joint angle swing of the robot fish physical model is taken as the motion input of the dynamics model,and the accuracy of the coupled dynamics model is verified by comparing the numerical simulation results with the physical model experiment results.Furthermore,the effects of the phase difference between the tail joints,the swinging angular frequency and the swinging amplitude on the swimming performance of the robot fish are analyzed.The results show that the swinging angular frequency and the maximum swinging amplitude are approximately proportional to the average swimming speed and inversely proportional to the head stability in a certain range.Compared with the average swimming speed,the head stability is more sensitive to the change of the phase difference,and the larger the phase difference can obtain better swimming stability.These conclusions lay a foundation and theoretical basis for further study on the complex trajectory tracking of the bionic robotic fish.

关 键 词：仿生机器鱼 耦合建模 Newton-Euler法 水动力学 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]