水中监测作业自主式机器人的基础研究

Purpose of the project is dynamic models of robotic fish and robotic dolphin swimming that established on the basis of ichthyologic knowledge and hydrodynamics theories. The engineering propulsive models, mechanical realization and motion control of fish-like and dophin-like swimming are studied by the project team members. On the concrete implementation of the project, working along the technical lines in turn. The technology includes the following steps, which is modeling and optimization of motion, optimization design of bionic body, high speed propulsion control and underwater experiments. Based on the analysis of high-speed swimming mechanism of bio-fish and dolphins, the kinematics and dynamics models are established, the mechanical body shapes are optimized, the size are optimized, the other parameters are optimized also. Project team members will design the driving mechanism according to the movement features of the internal joints, and combine with the self-adjustment of the tail fins and other parts of bio-fish and dolphins, and the efficient propulsion control algorithms will be given. A independent bionic underwater vehicle platform will be developed by the project team members, and the corresponding experiment and test platforms will also be established. The efficient bionic propulsion performance and the coordination and control of monitoring and operating mechanism will be implemented by means of the platform, and the experimental validation will be done eventually, and the task on monitoring and operating of lakes locked in the Qinghai-Tibet plateau will be fulfilled at the same time, which provide a strong theoretical and technical support for research and development bionic underwater vehicle of efficient propulsion.

项目的研究目标是结合鱼类学知识和水动力理论，建立机器鱼和机器海豚仿生推进的动力学模型；对机器鱼和机器海豚的工程化推进模型、机构优化设计及运动控制进行探讨。在项目具体实施上，沿着“运动建模与优化→仿生机体优化设计→高速推进控制→水下实验验证”的技术路线依次开展工作。依据对生物鱼及海豚高速游动的机理分析，构建其运动学及动力学模型，优化机构外形、尺寸等参量，根据内部关节的运动特征，设计相应的驱动机构，并结合尾鳍等部位的自调整性，给出高效的推进控制算法，研制一款自主水下仿生航行器平台，建立相应的实验和测试平台，实现高效仿生推进性能及协同监测作业，最终完成各项实验验证，履行高原湖泊监测作业任务，为研发高效推进的水下仿生航行器提供有力的理论及技术支撑。

项目的研究目标是结合鱼类学知识和水动力理论，建立机器鱼和机器海豚仿生推进的动力学模型；对机器鱼和机器海豚的工程化推进模型、机构优化设计及运动控制进行探讨。在项目具体实施上，沿着“运动建模与优化→仿生机体优化设计→高速推进控制→水下实验验证”的技术路线依次开展工作：.（1）改进了一款可携带多参数水质监测仪且具监测功能的智能机器鱼运动控制系统载体，可测距、避障、在线检测出高原湖泊等水环境中氯离子与钠离子含量、电导率、PH、温度参数等，与国内相关研究团队合作，在青海湖裸鲤研究中心鱼塘进行了野外实验验证。.（2）设计了一款具有高效推进性能的机器海豚，从结构、运动、动力建模和控制四个方面展开设计与优化。在结构方面，运用瞬态分析方法优化了尾鳍形状参数，获得了具有高效推进性能的尾鳍结构参数；在运动方面，建立了鱼体波曲线的控制参数、电机转角和位姿变换三者之间的关系来构造鱼体波光滑逼近机理模型，并通过模糊逼近算法验证了逼近机理的有效性；在动力学建模方面，运用凯恩方法建立了机器海豚拍动和C型旋转的动力学模型；同时，利用流固耦合方法和粒子群算法对关节运动参数进行了优化，将其参数引入到滑模控制中，展开机器海豚平面路径跟踪和定深控制；通过仿真验证了该款机器海豚的高效推进性能，为后续机器海豚机动性能和三维运动控制性能提升提供了前期的理论研究基础，促使该款机器海豚可在预定环境中得到良好的控制。同时，与国内相关研究团队合作，在禅古水库进行了水质监测机器海豚的野外实验验证。.（3）进行了双机器海豚在水生环境中的合作目标追踪研究，以无人船为运动目标，合作团队研制出一种具有腰腔推进机制的机器海豚，使用了兼具推进力和可操纵性的差分双边翻转器。为了满足快速路径规划的需求，采用变种 RRT 算法为双机器海豚生成可行的路径。进行了模拟、分析以及实地实验，以核实拟议控制方案的有效性。.上述可为后续研发提供借鉴。