Coupling Modeling of Hydrodynamics and Mechanism Dynamics of Bionic Robot Fish

BAI Fagang; XUE Gang; HUANG Jiankun; LIU Yanjun

doi:10.7652/xjtuxb202209006

您当前的位置：

首页 >

文章列表页 >

Coupling Modeling of Hydrodynamics and Mechanism Dynamics of Bionic Robot Fish

更新时间：2025-07-09

- Coupling Modeling of Hydrodynamics and Mechanism Dynamics of Bionic Robot Fish
- Vol. 56, Issue 9, Pages: 46-56(2022)
- 作者机构：
  
  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
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb202209006
  CLC： TP24
- Online First：10 September 2022，
  
  Published：2022
- 稿件说明：
移动端阅览
BAI Fagang, XUE Gang, HUANG Jiankun, et al. Coupling Modeling of Hydrodynamics and Mechanism Dynamics of Bionic Robot Fish[J]. 2022, 56(9): 46-56.
DOI：

BAI Fagang, XUE Gang, HUANG Jiankun, et al. Coupling Modeling of Hydrodynamics and Mechanism Dynamics of Bionic Robot Fish[J]. 2022, 56(9): 46-56. DOI： 10.7652/xjtuxb202209006.

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。

Abstract

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

Keywords

references

ZHOU Yangfan, WU Yingnian, ZHOU Chao, et al. Moving target tracking control of a biomimetic robotic fish [C]∥2020 Chinese Automation Congress(CAC). Piscataway, NJ, USA: IEEE, 2020: 3961-3965.

WEN Li, REN Ziyu, DI SANTO V, et al. Understanding fish linear acceleration using an undulatory biorobotic model with soft fluidic elastomer actuated morphing median fins [J]. Soft Robotics, 2018, 5(4): 375-388.

XIE Fengran, ZUO Qiyang, CHEN Qinglong, et al. Designs of the biomimetic robotic fishes performing body and/or caudal fin(BCF)swimming locomotion: a review [J]. Journal of Intelligent Robotic Systems, 2021, 102(1): 13.

王安忆, 刘贵杰, 王新宝, 等. 身体/尾鳍推进模式仿生机器鱼研究的进展与分析 [J]. 机械工程学报, 2016, 52(17): 137-146.

WANG Anyi, LIU Guijie, WANG Xinbao, et al. Development and analysis of body and/or caudal fin biomimetic robot fish [J]. Journal of Mechanical Engineering, 2016, 52(17): 137-146.

YU Junzhi, TAN Min, CHEN Jian, et al. A survey on CPG-inspired control models and system implementation [J]. IEEE Transactions on Neural Networks and Learning Systems, 2014, 25(3): 441-456.

WANG Zhelong, GAO Qin, ZHAO Hongyu. CPG-inspired locomotion control for a snake robot basing on nonlinear oscillators [J]. Journal of Intelligent Robotic Systems, 2017, 85(2): 209-227.

袁俊. 仿生机器鱼游动与滑翔运动的建模与控制研究 [D]. 北京: 中国科学院大学, 2017.

杨越麒. 面向仿生机器鱼的容错控制方法研究 [D]. 北京: 中国科学院大学, 2019.

ADAMS M C, SEARS W R. Slender-body theory: review and extension [J]. Journal of the Aeronautical Sciences, 1953, 20(2): 85-98.

YU Junzhi, WU Zhengxing, WANG Ming, et al. CPG network optimization for a biomimetic robotic fish via PSO [J]. IEEE Transactions on Neural Networks and Learning Systems, 2016, 27(9): 1962-1968.

汪明. 基于CPG的仿生机器鱼运动建模与控制 [D]. 北京: 中国科学院自动化研究所, 2010.

IJSPEERT A J, CRESPI A, RYCZKO D, et al. From swimming to walking with a salamander robot driven by a spinal cord model [J]. Science, 2007, 315(5817): 1416-1420.

KIM E J, YOUM Y. Design and dynamic analysis of fish robot: PoTuna [C]∥Proceedings of the IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2004: 4887-4892.

KIM E, YOUM Y. Simulation study of fish swimming modes for aquatic robot system [C]∥Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2005: 3330-3335.

CORKE P. 机器人学、机器视觉与控制: MATLAB算法基础 [M]. 刘荣, 译. 北京: 电子工业出版社, 2016.

YU Junzhi, WANG Long, TAN Min. A framework for biomimetic robot fish's design and its realization [C]∥Proceedings of the 2005 American Control Conference. Piscataway, NJ, USA: IEEE, 2005: 1593-1598.

XUE Gang, LIU Yanjun, SI Weiwei, et al. Evolvement rule and hydrodynamic effect of fluid field around fish-like model from starting to cruising [J]. Engineering Applications of Computational Fluid Mechanics, 2020, 14(1): 580-592.

吴正兴, 喻俊志, 谭民. 两类仿鲹科机器鱼倒游运动控制方法的对比研究 [J]. 自动化学报, 2013, 39(12): 2032-2042.

WU Zhengxing, YU Junzhi, TAN Min. Comparison of two methods to implement backward swimming for a carangiform robotic fish [J]. Acta Automatica Sinica, 2013, 39(12): 2032-2042.

WU Zhengxing, YU Junzhi, TAN Min, et al. Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish [J]. Journal of Bionic Engineering, 2014, 11(2): 199-212.

YANG Yueqi, WANG Jian, WU Zhengxing, et al. Fault-tolerant control of a CPG: governed robotic fish [J]. Engineering, 2018, 4(6): 861-868.

YUAN Jun, WU Zhengxing, YU Junzhi, et al. Sliding mode observer-based heading control for a gliding robotic dolphin [J]. IEEE Transactions on Industrial Electronics, 2017, 64(8): 6815-6824.

DONG Huijie, WU Zhengxing, TAN Min, et al. Hydrodynamic analysis and verification of an innovative whale shark-like underwater glider [J]. Journal of Bionic Engineering, 2020, 17(1): 123-133.

WU Zhengxing, YU Junzhi, YUAN Jun, et al. Analysis and verification of a miniature dolphin-like underwater glider [J]. Industrial Robot, 2016, 43(6): 628-635.

崔祚, 姜洪洲, 何景峰, 等. BCF仿生鱼游动机理的研究进展及关键技术分析 [J]. 机械工程学报, 2015, 51(16): 177-184, 195.

CUI Zuo, JIANG Hongzhou, HE Jingfeng, et al. Research development and key techniques of BCF robotic fish in locomotion mechanism [J]. Journal of Mechanical Engineering, 2015, 51(16): 177-184, 195.

刘焕兴, 苏玉民, 庞永杰. 非正弦摆动对水翼水动力性能的影响 [J]. 华中科技大学学报(自然科学版), 2016, 44(2): 15-20.

LIU Huanxing, SU Yumin, PANG Yongjie. Effects of the nonsinusoidal oscillating on the hydrodynamic performance of the hydrofoil [J]. Journal of Huazhong University of Science and Technology(Natural Science Edition), 2016, 44(2): 15-20.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Numerical Analysis of Hydrodynamics Characteristics for Autonomous Swimming of Bionic Tunas

Numerical Simulation of the Energy Conversion Process in Thermoacoustic Engines with Different Stack Materials

A Structure-Semantics-Residual Collaborative Image Compression Framework：Towards Privacy Protection and High-Fidelity Reconstruction

Effects of Steam Addition on the Swirl Combustion and Emission Characteristics of Cracked Ammonia

Review of the Application of EBSILON Software in Combined Heat and Power System Optimization

Related Author

严惠云 1

张浩磊 2

刘小民 2

Related Institution

School of Science, Northwestern Polytechnical University

⁰