摘要
针对海龟水翼运动的特点,进行了仿水翼推进系统的研究.基于水翼运动的抽象分析,建立了二自由度水翼运动模型,描述了水翼运动典型状态下的翼态特征.设计了仿生运动机构,分析了其运动学特性,为优化仿生推进机构的设计与控制提供了依据.基于PC104和DSP构建了仿生机构的控制系统,实现了运动控制器的模块化设计.搭建了单肢运动实验平台,从功能仿生角度实现了水翼运动,试验验证了仿水翼机构运动的可行性和控制系统的有效性,丰富了水下推进理论.
A hydrofoil bio-mechanism was developed to simulate propulsion characteristics of the flippers of marine turtles. Following technical analysis of hydrofoil motion, a two-degree-of-freedom model of hydrofoil motion was established. Then characteristics of hydrofoils in typical motion were analyzed. A propulsive bio-mechanism was then designed, and its kinematic features analyzed, laying a foundation for optimal design and control of the mechanism. The control system was based on PC104 and digital signal processing （DSP）, with a modular design for the corresponding motion controller. Finally, an experimental platform for testing movement of a single limb was developed, on which hydrofoil motion could be achieved through bionic functionality. The experimental results prove the feasibility of the proposed bio-mechanism and its control system.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2008年第3期285-289,共5页
Journal of Harbin Engineering University
基金
哈尔滨工程大学基础研究基金资助项目(HEUF040134)
关键词
仿生运动机理
水翼模型
翼态特征
控制系统
bionic motion principle
hydrofoil model
hydrofoil configuration
control system
