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在分析海豚尾部行波推进特点的基础上,提出了基于同频特征摆和相位差因子的行波推进运动学特征方程获取方法,并进一步设计了基于数据钳位的平均速度控制方法.首先,对海豚行波推进特点进行分析,指出动能映射原理同样适用于行波运动情形.通过定义同频特征摆和相位差因子,把无相位差推进方式下的动能映射运动学特征方程移植到行波推进模式.然后,针对移植后的运动学特征方程非线性更严重的特点,给出了数据钳位设计方法.数据钳位指利用动能映射系数,在首次运行时直接把系统状态钳位到目标速度附近的一个小范围区域内,并通过输入钳位和输出钳位把运行数据限制在这个有限范围.在此基础上,通过迭代学习辨识和重复控制作小范围的速度微调,实现平均速度控制.仿真与实验结果说明,移植后的行波推进运动学特征方程可以用于指导机器海豚推进运动,而基于数据钳位设计的迭代学习辨识与重复控制方法实现了机器海豚平均速度控制.
Based on the analysis of the traveling characteristics of dolphin tail wave, a method of acquiring kinematic characteristic equations of traveling wave propulsion based on co-frequency characteristic pendulum and phase difference factor is proposed and an average speed control method based on data clamping is designed.Firstly, It is pointed out that the principle of kinetic energy mapping is also applicable to the case of traveling wave motion.Through the definition of co-frequency characteristic pendulum and phase difference factor, the equation of motion kinematics of the non-phase difference propulsion method is transplanted to the traveling wave Propulsion model.And then, aiming at the more non-linearity of the kinematics characteristic equation after transplantation, a data clamp design method is presented.Data clamping refers to the use of kinetic energy mapping coefficient to clamp the system state directly to the target Within a small area near the speed and limited by the input clamp and output clamp within a limited range.On the basis of iterative learning identification and repetitive control for a small range of fine-tuning speed, to achieve the average speed control The simulation and experimental results show that the traveling wave propulsion kinematic characteristic equation after transplantation can be used to guide the machine dolphin propulsion Move to achieve the average speed of the machine dolphin identification and control iterative learning control method is repeated clamping design and data based.