水下仿生航行器高效高机动运动的基础理论与关键技术

The propulsion requirements of underwater vehicle are often attributed to high efficiency and high maneuverability. With inspiration from highly efficient and maneuverable fish swimming, this proposal aims at establishing an integrative underwater propulsion platform incorporating mechanism biomimicry, motion biomimicry and control biomimicry, and at investigating the basic theory and key technologies of high-efficiency and high-maneuverability of fish swimming. The main research topics are listed as follows. Firstly, we will investigate the kinematic and dynamic features of typical high-maneuvers and establish an integrative control model. Then compliant drive mechanism for tail-fin-thruster will be explored and the interaction between active drive and compliant underactuation will be revealed. We also explore the gait generation, optimization and precise control of various maneuvers so as to obtain a precise control method with a certain anti-perturbation ability. After this, a variety of imitation fins (involving multi-DOF pectoral fins folded anal fin/dorsal fin, rotating tail fin) as well as an efficient and compliant caudal-fin-thruster will be designed and realized. At last, different biomimetic robotic fish prototypes with different propulsion configurations will be developed by through the integration of the unit bionic technology; a well-integrated experimental platform to validate the proposed theory and methods will be ultimately built. The outcome of the proposal will not only deepen and enhance the understanding of the biomechanics of fish swimming, but also provide important theoretical and technical support for designing and controlling highly efficient and maneuverable underwater vehicles.

水下航行器对推进技术的需求通常归结为对效率、机动性的要求。受鱼类高效、高机动运动的启发，本项目拟构建一个集机构仿生、运动仿生、控制仿生于一体的水下仿生推进平台，深入研究高效、高机动仿鱼运动的基础理论与关键技术。主要研究工作包括：研究高机动运动的运动学及动力学特性，建立高机动运动控制模型；研究尾鳍高效推进的柔性驱动机理，初步揭示主动驱动和柔顺欠驱动的相互作用机制；探讨高机动游动模态生成、优化及精准控制，给出具有一定自抗扰能力的精准机动控制方法；研究多种仿鳍（包括多自由度胸鳍、折叠臀鳍/背鳍、可旋转尾鳍等）推进机构及高效柔性尾鳍推进器的设计与实现；在此基础上，通过单元仿生技术的集成，研制开发具有不同推进配置的仿生机器鱼原型样机，搭建一体化实验平台，对所提理论和方法进行验证。本项目研究成果不仅可以增进对鱼类游动生物力学的认识，而且为兼具效率和机动性的水下航行器设计与控制提供重要的理论和技术支撑。

水下航行器对推进技术的需求通常归结为对效率、机动性的要求。受鱼类高效、高机动运动的启发，本项目构建了多种集机构仿生、运动仿生、控制仿生于一体的水下仿生推进平台，深入研究了高效、高机动仿鱼运动的基础理论与关键技术。主要研究工作包括：研究了高机动运动的运动学及动力学特性，建立了高机动运动控制模型；研究了尾鳍高效推进的柔性驱动机理，揭示了主动驱动和柔顺欠驱动的相互作用机制；3D打印了仿䲟鱼吸盘机构，研究了䲟鱼的吸附机制，分析了其对鱼游效率的影响；研究了高机动游动模态生成、优化及精准控制，给出了仿鱼C形起动、S形起动、三维机动、倒游、跃水运动等精准机动控制方法；研究了多种仿鳍（包括多自由度胸鳍、折叠臀鳍/背鳍等）推进机构及高效柔性尾鳍推进器的设计与实现；在此基础上，研制开发了四种具有不同推进配置的仿生机器鱼原型样机，搭建了一体化实验平台，验证了所提理论和方法。本项目研究成果不仅可以增进对鱼类游动生物力学的认识，而且为兼具效率和机动性的水下航行器设计与控制提供了重要的理论和技术支撑。本项目共发表学术论文102篇，其中SCI期刊论文45篇，包括IEEE Transactions汇刊论文16篇；出版专著1部、英语图书章节1章；研究成果5次获得IEEE ROBIO、CLAWAR等国际会议最佳论文奖；申请发明专利16项，其中已授权发明专利9项；登记软件著作权5项；研究成果获得2017年国家自然科学奖二等奖。

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