柔性长鳍仿生装置波动控制技术.PDFVIP

28 3 JOURNAL OF NATIONAL UNIVERSITY OF DEFENSE TECHNOLOGY Vol.28 No.3 2006 :1001- 2486(2006) 03- 0099- 05 X 谢海斌, 张代兵, 沈林成 ( , 410073) : / 0 , ; , , , ; , ; , , , : ; ; ; ; :TP391 :A Undulation Control on the Bionic Device of Long Flexible Fin XIEHa-i bin,ZHANG Da-i bing,SHEN Lin-chen ( Collegeof Mechatronics Engineerin gand Automation, National Univ. of DefenseTechnology, Changsha 410073, China) Abstract:This paper studiesthe undulation controlon the bionic device of lon gflexible fin based on undulation movement generated by the lon gflexible fin of Gymnarchus niloticus. Firstly, the principle of formin gpropulsion wave and the realization scheme of lon flexible fin were studied. Secondly, a kinematics model was established to describe the undulation surfaces of the bionic device, the undulation control parameters which can be used in realizin gmultiple undulation modes of bionic object were distilled, and the methods of realizin gsome given undulation modes of lon gflexible fin were studied by simulations. Accordin gto the physical constraints of the bionic device, the criteria to judge the validity of these parameters were also presented. Finally, the paper studies undulation control strategy and contro-l flow of the bionic device of lon gflexible fin.The research result indicates that the bionic device of lon gflexible fin can imitate multiple undulation modes of bionic object via settin gcontrol parameters properly, and can realize mult-i parameter control of propulsionwave. So, it can satisfy the unsteady hydrodynamic measurement demands of the bionic device with multiple undulatio