| In recent years, bionic underwater vehicle is becoming popular in the bionicresearch field with the advantages of high speed, efficiency, maneuverability andlow noise. Bionic underwater vehicle overcame many shortcomings of traditionalunderwater vehicle such as the large volume, great weight, low propulsiveefficiency, big noise, obvious fluid disturbance and poor maneuverability at lowspeed and so on. It is important to design bionic underwater vehicle by learningadvanced propulsion technology of fish, which can reduce energy consumption andnoise, at the same time improve the propulsive efficiency and maneuverability.Firstly this paper introduces domestic and international development status ofbionic underwater vehicle applied in fields of research, military and marine salvageand so on. The Carangidae is the most suitable bionic object according to results ofcomparing. And then the propelling mechanism of Carangidae is deeply studiedand a motion model of Carangidae is established. In the next, propeller powergenerated by the swing of tail and the resistance from underwater are calculated.Then the simulation is executed for the dynamics model. Through a comparativeanalysis the effect of various parameters on the bionic underwater vehicle, thenbionic underwater vehicle’s motion control system can be designed and optimized.Furthermore a4-joint tailing propeller structure is designed for the bionicunderwater vehicle. At the same time, this paper puts forward a motion controlalgorithm based on microcontroller which can be used widely. The feasibility ofthis algorithm is verified by experiments.This paper focuses the hardware and software of bionic underwater vehicle.Hardware includes central control system and motion control system. Softwareincludes motion control algorithm and program for the microcontroller. Finally, this paper completes experiments of tail’s motion control. Large numbers of comparedexperiments are made under different parameters. Reliability of hardware systemand superiority of motion control algorithm are verified through the experiments.This paper solves many problems of bionic underwater vehicle and improves thestructure of tail. This design achieves the desired effect and lays a foundation forthe underwater experiment. |
