In order to solve the problems of low propulsion efficiency and low moving speed which are commonly found in current bionic fin underwater robots,and considering that in addition to the material and shape of the bionic fins,the oscillating trajectory,amplitude,and period of the fins are also important factors affecting the propulsion efficiency and moving speed of the robots,thus the oscil-lating trajectory of the bionic fins was investigated,and the trajectory optimization method was adopted to improve the propulsion efficiency of the underwater robot.Firstly,the force analysis of the bionic fin's oscillation process in water was carried out and the hydrodynamic model of the fin was established.Secondly,the trajectory optimization method was used to optimize the trajectory of the bionic fin when it moves in water,the amplitude and period were optimized,and the differences between the traditional and the optimized trajectories were analyzed.Subsequently,the trajectory optimization method was sim-plified by using a non-linear inverse model based on the increase coefficient and the oscillation ampli-tude,which shortened the time required for trajectory optimization and enabled the optimized trajectory to be applied to the real-time control of the robot.Finally,simulation and experimental results show that the trajectory optimization method integrated with a simplified hydrodynamic model can improve the propulsion efficiency and movement speed of the bionic fin-type underwater robot.
关键词
仿生鳍式水下机器人/轨迹优化/水动力学模型/推进效率/实时控制
Key words
bionic fin underwater robot/trajectory optimization/hydrodynamic model/propulsive efficiency/real-time control
维普
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