Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins
Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins
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两个起伏长鳍仿生水下航行器游泳运动模型
DOI：
10.1017/s0263574711001159
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发表时间：
2011-11
期刊：
影响因子：
2.7
通讯作者：
Cheng, Long
中科院分区：
文献类型：
--
作者：
Shang, Liuji;Wang, Shuo;Tan, Min;Cheng, Long
本文介绍了一种由两个波浪形长鳍推进的仿生水下机器人。仿生水下机器人的运动是由对称长鳍的起伏或振荡运动引起的。为了方便起见，三种运动模式，提出并考虑首先。然后安装一个惯性单元，用于收集加速度和角速度。通过对水下机器人的MIMO模型进行简化，将其转化为SISO模型。提出了一种基于长鳍时变膜的正弦波函数，并将其作为仿生水下机器人阿尔马模型的输入，以速度或角速度作为模型的输出。采用基于递推加权最小二乘的算法进行模型参数辨识。用长鳍推进水下航行器进行了实验。实验结果表明，所提出的方法可以有效地建立有效的运动模型的三种运动模式。
SUMMARY A biomimetic underwater vehicle, which is propelled by two undulating long-fins, is introduced in this paper. The undulating or oscillating movements of symmetrical long-fins cause the complex locomotion of biomimetic underwater vehicle. For convenience, three motion modes are proposed and considered firstly. Then an inertial unit is installed for collection of accelerations and angular velocity. The underwater vehicle's MIMO model is reduced into a SISO model by some simplifications. A sine wave function deduced from the long-fin's time-varying membrane is proposed and used as the input of the biomimetic underwater vehicle ARMA model, and velocity or angular velocity is considered as the model output. The algorithms based on recursive weighted least squares are applied for model parameter identification. Experiments carried out with a long-fin propelled underwater vehicle. The experimental results show that the proposed methods can build valid locomotion models for three motion modes efficiently.
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DOI：
--
发表时间：
1999-12
期刊：
The Journal of experimental biology
影响因子：
--
作者：
Lisa J. Rosenberger;M. Westneat
通讯作者：
Lisa J. Rosenberger;M. Westneat
DOI：
10.1017/cbo9780511983641.005
发表时间：
1994-09
期刊：
--
影响因子：
--
作者：
P. Webb
通讯作者：
P. Webb
影响因子：
4.9
作者：
S. Kelouwani;K. Agbossou
通讯作者：
S. Kelouwani;K. Agbossou
影响因子：
3.7
作者：
LIGHTHILL, MJ
通讯作者：
LIGHTHILL, MJ
影响因子：
4.1
作者：
MacIver, MA;Fontaine, E;Burdick, JW
通讯作者：
Burdick, JW