Study on Stabilization of Undermater Robot with Mechanical Pectoral Fins in Water Currents

机械胸鳍水下机器人水流稳定性研究

• 批准号: 09651023
• 负责人: KATO Naomi
• 金额: $ 1.54万
• 依托单位: Tokai University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09651023/
• 关键词: Lead Lag motion; Feathering Motion; Unsteady Vortex Lattice Method; Fish-Like Undermater Robot; Guidance and Control; Fuzzy Control; Flexible Fin; アクフバ付メカニズム; 胸鰭運動装置; ドッキング; リ-ド・ラグ運動; 魚型水中ロボット

This study deals with (I) experimental analysis of pectoral fin motion, (2) the hydrodynamic model for pectoral fin motion, (3) maneuver test of a fish robot equipped with a pair of apparatus of pectoral fin motion on both sides , (4) guidance and control of the fish robot, in particular, the hovering performance in water currents, and (5) numerical simulation of effect of a flexible fin on its hydrodynamic characteristics. The conclusions are as follows ;(1) Observation of pectoral fin motion of Black Bass revealed that the combination of feathering motion and lead-lag motion of a pair of pectoral fins generates the fish motion of advancing, backward swimming, hovering and turning.(2) The unsteady vortex-lattice method including the effect of viscosity can express fairly well the unsteady forces acting on a pectoral fin model having feathering and lead-lag motions in a range of the phase difference between both motions where it exerts thrust force.(3) The fish robot consisting of fish body model and a pair of apparatus of pectoral fin motion can not only swim forward and backward and turn in the same position, but also swim in the lateral direction.(4) The use of fuzzy control enables the fish robot with a pair of the apparatus of the pectoral fin motion swim on a pre-arranged course and hover around an appointed point in a water current.(5) The flexible fin makes it possible to increase the propeller efficiency compared with the rigid fin.

本研究内容包括：（1）胸鳍运动的实验分析;（2）胸鳍运动的水动力学模型;（3）两侧装有胸鳍运动装置的机器鱼的机动试验;（4）机器鱼的导引与控制，特别是在水流中的悬停性能;（5）柔性鳍对水动力特性影响的数值模拟。主要结论如下：（1）对黑鲈胸鳍运动的观测表明，胸鳍的顺桨运动和前后运动共同作用，产生了鱼类的前进、后退、盘旋和转向运动。(2)考虑粘性影响的非定常涡格法可以较好地表示具有顺桨运动和超前-滞后运动的胸鳍模型在两种运动之间的相位差范围内的非定常力。(3)由鱼体模型和一对胸鳍运动机构组成的鱼机器人不仅可以前后游动和原地转弯，还可以横向游动。(4)模糊控制的使用使带有一对胸鳍运动装置的机器鱼在水流中按预定的路线游动并围绕指定的点悬停。(5)与刚性鳍相比，柔性鳍可以提高螺旋桨的效率。

项目成果

Kato, N.and Inaba T.: "Control Perforamance of Fish Robot with Pectoral Fins in Horizontal Plane" Proc.of 1998 Int.Conf.on Underwater Technology. 357-362 (1998)

Kato, N. 和 Inaba T.：“带胸鳍的鱼机器人在水平面上的控制性能”Proc.of 1998 Int.Conf.on 水下技术。

Inaba, T.Watanabe, K.and Kato, N.: "Motion Control of Fish Robot with Mechanical Pectoral Fins in Horizontal Plane" Proc.of 10^<th> Bio-Engineering, (JSME). 648-649 (1998)

Inaba, T.Watanabe, K. 和 Kato, N.：“水平面机械胸鳍鱼机器人的运动控制”Proc.of 10^<th>生物工程，(JSME)。

N.Kato,T.Inaba: "Hovering Performance of Fish Robot with Apparatus of Pectoral Hn Motion" Proc.of 10th Int.Sym.on Unmanned Untechered Sabmersible Technolozy. 177-188 (1997)

N.Kato，T.Inaba：“带有胸肌运动装置的鱼机器人的悬停性能”Proc.of 10th Int.Sym.on Unmanned Untechered Sabersible Technolozy。

稲葉忠彦 渡辺啓介 加藤直三: "胸鰭運動装置を取り付けた魚型水中ロボットの運動制御" 第10回バイオエンジニアリング講演会論文集(機械学会). 648-649 (1998)

Tadahiko Inaba、Keisuke Watanabe、Naomi Kato：“配备胸鳍运动装置的鱼型水下机器人的运动控制”第十届生物工程会议论文集（日本机械工程师学会）648-649（1998）。

加藤, 稲葉: "胸鰭運動装置の流体力学的研究" 日本造船学会論文集. 182. 129-139 (1997)

Kato, Inaba：“胸鳍运动装置的流体动力学研究”日本造船学会汇刊 182. 129-139 (1997)。