基于CFD的仿鲹科机器鱼动力学建模与运动控制
2022,30(4):121-127
摘要：仿生机器鱼的运动控制是仿生机器鱼推广应用的基础；然而，仿鲹科机器鱼的推进一般采用鱼体波数据，很少采用真实鱼类游动数据；为了深入探究仿鲹科机器鱼运动控制方法，采用了计算流体力学方法，通过标定流体介质、来流速度、鱼体几何形状等措施，利用Fluent软件进行了建模，然后针对鱼体波数据和真实金枪鱼游动采样数据两种不同推进数据对仿生机器鱼进行了仿真和实验；结果表明对于多关节仿生机器鱼推进方面，真实金枪鱼游动采样数据相较于常见的鱼体波产生的推进数据，在躯干进行大幅值摆动的情况下效果更好；这一仿真和实验对比为仿鲹科机器鱼的高效运动控制提供了一种新思路。
关键词：仿生机器鱼；运动控制；动力学建模；计算流体力学；鱼体波
CFD-based Dynamic Modeling and Motion Control Method for a Carangiform Robotic Fish
Abstract：The motion control of the robotic fish is the basis for the promotion and application of the robotic fish. However, the drive of the carangiform robotic fish generally uses fish body wave data, and rarely uses real fish swimming data. In order to deeply explore the motion control method of the trevally-like robotic fish, adopting the computational fluid dynamics method, and uses Fluent software to model by calibrating the fluid medium, inflow velocity, fish geometry and other measures. Then, the simulation and experiment of the robotic fish are carried out according to two different propulsion data, the fish body wave data and the real tuna swimming sampling data. The simulation show that for the multi-joint robotic fish drive, compared with the propulsion data generated by the common fish body wave, the real tuna swimming sampling data is more effective when the torso swings with a large value. This simulation and experiment comparison provides a new idea for the efficient motion control of the carangiform robotic fish.
Key words：robotic fish; motion control; dynamic modeling; computational fluid dynamics; fish’s body wave
收稿日期：2022-01-21
基金项目：国家自然科学(62073196、U1806204)
