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以仿生鱼尾推进器为研究对象,建立仿生鱼尾动力学模型和以仿鱼尾推进的潜器动力定位模型。利用仿真试验得出的数据分析仿生鱼尾摆动频率、摆动幅度和各关节之间相位差等因素对仿生鱼尾推进性能的影响,采用PID控制算法对仿鱼尾推进的潜器在一维方向的动力定位进行仿真。仿真结果表明,仿生鱼尾推进在潜器的动力定位中可以实现初步的性能要求。
Taking the bionic tail thruster as the research object, the bionic tail kinetic model and the submarine dynamic positioning model are established. Based on the data from simulation experiments, the influence of bionic tail swing frequency, swing amplitude and the phase difference between joints on the propulsion performance of bionic tail was analyzed. The PID control algorithm was used to simulate the fish tail propelled submersible in one dimension Dynamic positioning of the simulation. The simulation results show that the preliminary performance requirements can be achieved in the dynamic positioning of the submarine propeller.