隨著科學(xué)技術(shù)的發(fā)展,人們在開發(fā)和利用陸地資源的基礎(chǔ)上,將目光投向了占地球面積71%的海洋。作為探索海洋的重要工具,水下仿生機(jī)器魚成為研究的熱點(diǎn)之一,科研工作者在機(jī)器魚的仿生推進(jìn)機(jī)構(gòu)設(shè)計(jì)、運(yùn)動(dòng)控制、水動(dòng)力學(xué)分析等方面做了大量工作。根據(jù)推進(jìn)方式的不同,機(jī)器魚可分為身體/尾鰭推進(jìn)方式(Body and/or Caudal fin Propulsion mode,BCF)和中央鰭/對鰭推進(jìn)方式(Media and/or Paired fin Propulsion mode,MPF)。其中,針對機(jī)器魚的基本游動(dòng)行為控制問題,已經(jīng)取得了較多的結(jié)果。本文針對動(dòng)態(tài)水環(huán)境中自主仿生機(jī)器魚的運(yùn)動(dòng)控制問題展開研究,以提升其在復(fù)雜水環(huán)境中完成任務(wù)的能力。主要工作內(nèi)容如下:1.系統(tǒng)總結(jié)了仿生機(jī)器魚的研究進(jìn)展。針對魚類游動(dòng)機(jī)理、仿生推進(jìn)機(jī)構(gòu)設(shè)計(jì)、運(yùn)動(dòng)控制技術(shù)、能源供給和水下通信技術(shù)等內(nèi)容,系統(tǒng)分析了機(jī)器魚領(lǐng)域的研究進(jìn)展和存在的主要問題,在此基礎(chǔ)上,從工程應(yīng)用和性能提升兩個(gè)方面,討論了機(jī)器魚領(lǐng)域未來的研究方向和發(fā)展趨勢。2.基于中樞模式發(fā)生器(Central Pattern Generator,CPG)模型,設(shè)計(jì)了...

【文章頁數(shù)】：49 頁

【學(xué)位級別】：碩士

【文章目錄】：
Abstract
摘要
1 General introduction of the Research
    1.1 Research Background
    1.2 Research Problems Statement
    1.3 Significance and Aims of the Research
2 Research progress and development trend of Robotic fish
    2.1 Introduction
    2.2 Robot fish Research Status
        2.2.1 The progress in the study of swimming mechanism
    2.3 Research Progress in Robotic Fish
        2.3.1 BCF mode Machine Fish
        2.3.2 MPF mode robot fish
    2.4 Key Technologies of Robotic Fish Research
        2.4.1 Fish Swimming Mechanism
        2.4.2 Drive Material
        2.4.3 Robotic Fish Propulsion Technology
        2.4.4 Robot fish control technology
        2.4.5 Energy supply technology
        2.4.6 Underwater communication technology
    2.5 Research direction and development trend
    2.6 Summary
3 Velocity Control of Swimming Robotic Fish Based on CPG Model
    3.1 Introduction
    3.2 Mechanical Structure of Robotic Fish
    3.3 Propulsion Mode Of a Robotic Fish
    3.4 Motion Control of Robotic Fish
    3.5 CPG model and its characteristics
    3.6 Dynamic Model of a Robotic Fish
        3.6.1 The Hydrodynamics Model
        3.6.2 kinematic model
    3.7 Simulation Results
    3.8 Summary
Conclusion
Acknowledgement
References
Research achievements during the period of working for master's degree



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