仿鱼长鳍波动推进器研究的进展与分析

仿鱼长鳍波动推进是未来水下航行器的一个发展趋势和重要的研究方向,文章介绍了长鳍波动推进器的生物学背景,分析了长鳍波动推进的数学方法,对国内外仿鱼长鳍波动推进器的研究现状和取得的成果进行了综述,并扼要分析了目前仿鱼长鳍波动推进器控制研究的主要问题。推进系统控制遇到的挑战是大扰动情况下的状态保持、迅速机动、高效持久推进和轨迹规划与跟踪,从推进器的设计和控制上解决这些困难将依赖于工程技术科学和生物科学的进展状况。

The Progress and Analysis of the Research on the Underwater Biomimetic Propulsor Employing the Long-fin Undulations

The propelling modes utilizing the long-fin undulations are considered having great potential for exploiting the future underwater vehicles. The biological background and mathematical analysic methods of the underwater biomimetic propulsor employing the long-undulating-fin are presented. The achievements and the current situation of the researches on the underwater long-undulating-fin propulsor at home and abroad are generally summarized. The control problems which must be solved by the underwater biomimetic propulsor are tersely discussed. The challenges faced by the propulsive system control are state keeping under serious perturbations, rapid maneuvering, power-efficient endurance swimming, and trajectory planning and tracking. The design and control of the underwater biomimetic propulsors taking up these challenges will require state-of-the-art engineering and biology.