仿生流场适应性控制——仿生水下机器人的新方向.pdf

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1、2009Ё೑㞾ࡼ࣪໻Ӯᱼϸ࣪㵡ড়催ዄӮ䆂(CAAC2009)ᴎ఼ҎϢ῵ᓣ䆚߿ᡔᴃঞᑨ⫼ϧ乬ӓ⫳⌕എ䗖ᑨᗻ᥻ࠊȪࠢ໶སჲ৒ෙ๩ݨᅐࠝᄢಋॿюܑඟߞ჆ӝρ໦ںμ˄೑䰆⾥ᡔ໻ᄺᴎ⬉Ꮉ⿟Ϣ㞾ࡼ࣪ᄺ䰶ˈ␪फ䭓≭410073˅ᨬ㽕:഻ᆂಷ࠘ۤ൛଼ԅོࢗںนᆴఆ୶ຏഃŃႺԅ৛Ⴞಹࢋۤ৛Ⴞོࢗںڳْຣӝഃᄯρ୶ԅၻ඘Ńޏ೬ཙࡎᄷԤޛཛྷ༣ॴᆑयႾྻࣿճ༻۔മէ໿ટԅᅴௐŃရࣴႺॴयႾ܊ճՎۤᆑᄭ໿ટԅڑᅟÇ೓ဨफဓՎ୳ԅಓഃຏÅ໿ᄭᆑҶฌပŃ೬ޏࠩ෗ຏഃ໸໭ԅ඘ྡྷဟࣅЀူࠩ෗ނဈϰ൑Ńಓၮ࿫ఆ୶Վ໿Å࿥Η໿ԉੋပ

2、໒ԙϠѩҎහഃຏ෗ࠩ୶Ç·ำؠ೭ॴมᴚÅϏՎᴚÅ༃ᴚసफ੦಴ಓഃຏ෗ࠩ୶ԅޛပюڴۤႺؠࣣŃҶಓ༰߸էד๥ॴ؞ক့ੋংԅᅖྑටႾÇწճޛပಓഃຏ୶ఆྻ੦ဨफෳၽၮՎ໹಴นᅖԅຣᅱŃඔѻಓঠЦು࿫໿ࣅᄥŃ࠙ߋဨफϢծԸჼᄡՎІ৛ഈ࿫ঠЦܬࡂԅ໿࿫ುЦঠವࠃ຿಴໹Վၮफဨ੦Ҷࡎཙఆ୶ຏഃಓߜŃટޏ·ᄥಇదŃඔຏഃಓॴ೭ТŃ଼ഃ೬ޏပຣဟᆠोÇ໿ఘອۤ໿࿫ುԅࡂܬঠഃճఆ୶ຏഃಓغ୶ఆঠЦು࿫໿ࣅᄥԅઝۄŃඔѻॴဟઝϦᅱൟثᄉۤဟෳϦঠЦ໰๯ثᄉԅ०फཙࡎ഑াŃ൰ൌॴҶ“໹”ď੦ဨफဓՎ੦಴ĐඔಖӾ“

3、ಊ”ď੦ဨफဓՎು࿫໿ࠒÇࡅා໭٢ඔࠩ؟ટ໿ԅఆ୶ຏഃಓफْนŃা഑໭ԅĐટཙࡎᆦၽಓϏՎᴚ෗ࠩক့ԅཙࡎюڴŃٓѻಓഃຏ෗ࠩ୶ঠЦು࿫໿ࣅᄥԅ࿫ဈಬैÇ࿙೓ঠЦ໰๯ثᄉۤঠЦᄷٲޏ೬ԅຫᄥŃဟෳϦঠЦ໰๯ثᄉԅ౩ӠཙࡎŃ·ำ࿤దԽӝ༰๽ŃϰဈဟઝϦᅱൟثᄉԅಓঠЦು࿫໿ࣅᄥŃပ໒؟౟ॴಓϏՎᴚԅϏՎ෗ࠩ໿ટŃԥ໸ϵ೴ຏŃಓϏՎᴚϏՎ෗ࠩമէࢶඔغ࠭40%Ç݇䬂ᄫ˖ಓഃຏٲᄷЦঠŃᄉث๯໰ЦঠŃᄥࣅ๽༰Ń໿ᄭᆑŃಊŃ໹Ń໿࿫ುЦঠಓŃఆ୶Ё೒ߚ㉏ো˖TP᭛⤂ᷛ䆚ⷕ˖ABiomimeticFlow

4、AdaptabilityControl:ANewApproachforUnmannedUnderwaterVehiclesSHENLincheng,HUTianjiang,ZHANGDaibing,XIEHaibin(CollegeofMechatronicEngineeringandAutomation,NationalUniversityofDefenseTechnology,Changsha410073,China)Abstract:Withthesproutrequirementsofo

5、ceandevelopmentsintheworld,underwaterroboticshasbeenmoreconcernedbyscientistsandresearchers,asanoceanexplorationplatform.SincetheColdWar,thetechnologicalfocusinunderwatervehicleshasbeentransferredfromhigh-speedcruisingtomaneuverabilityandautonomy.Bio

6、mimeticunderwaterrobots,alsocalledasfish-likerobotsinspiredbynaturalfishesorcetaceans,caneffectivelyintegratepropulsionandruddercontrol.Thesebio-inspiredunderwaterrobotsareexpectedtocomplementconventionalunderwaterpropellersinhigherautonomy,betterman

7、euveringandlowerswimmingnoise.Thepaperpresentsacomprehensivesurveyonthebiomimeticunderwaterpropulsorsinthreemodesofcaudal,undulatoryandpectoralfins.Hereafter,thechallengesinthisfieldarealsoprovidedfromtheviewpointofbiomimetics.Giventhesechallengesont

8、hewaytopracticalapplications,thispaperproposesbiomimeticflowadaptabilitycontrol(BFAC)method,tofacilitatethebreakthroughfrom"imitationinshape"(mimickingtheouterlocomotionofnaturalfish)to"inspirationinspirit"(unveilingnaturalfish’sinherentpropertyinacc