Research On The Implemetation Of Bionic Fish Tail Propulsion Control For Submersible Dynamic Position

In terms of the dynamic positioning method of submersible,it remains a lot of drawbacks in the traditional screw propeller propulsion system.However,with the swimming mode of fishes featuring in fast speed,excellent maneuverability,high efficiency as well as low noise,the new bionic fishtail propulsion technology has currently become a popular research direction.This paper,based on the analysis and summaries of massive research literature of bionic fishtail propulsion system,focuses on the studies of the propulsion theories of bionic fishtail propulsion system as well as the overall design and implementation of prototype.The main contents of this paper are as follows:Firstly,with the Carangidae-type fishtail propulsion model taken as research subject,this paper makes an abstract simplification of the swing of the fishtail and establishes a kinematics model through analyzing the motion process to simulate the fishtail motion trajectory.Meanwhile,with the theories such as fluid mechanics applied to make a mechanics analysis on the motion of fishtails,the total thrust of the bionic tail swing is calculated.Later on,the tail propulsion is simulated as well.Secondly,a mathematical model is established and the prototype of the bionic fishtail propulsion system is assembled and sealed by designing bionic tail propulsion scheme and transmission structures,analyzing the model selection of tail propulsion steering engine as well as matching the shape of the crescent tail fin.Thirdly,according to the demand of motion function of the bionic fishtail propulsion,a hardware control system based on STM32 MCU is designed,which includes the main control module,power supply module,attitude calculation module,rudder driver module and communication module.In the meantime,the development of the embedded control software is carried out and the programming and debugging of the motion control program are completed,accompanied by realization of the motion functions like advancing and turning of the bionic fishtail propulsion prototype.Finally,several important parameters affecting the bionic fishtail propulsion are simulated with the application of Matlab software to obtain the optimal setting range of parameters.Meanwhile,the underwater test on the bionic fishtail propulsion prototype is carried out in terms of cruising,turning motion and the basic action of the bionic fish propulsion control system is validated,which can provide a reference for the further research and design of the dynamic positioning of the bionic tail propulsion.