Dynamic Modeling Of Tail And Control Of Propulsion Based On Robot Dolphin

In order to design a robot dolphin with efficient propulsion performance,design and optimization are carried out from four aspects: structure,motion,dynamic modeling and control.In the aspect of structure,the shape parameters of tail fin are optimized by using the transient analysis method.The structural parameters of the tail fin are obtained with high propulsion performance.In the aspect of motion,the relationship among the control parameters of midline motions,motor angles and pose transformation is established to construct the mechanism model of midline motions.And the effectiveness of the approximation mechanism is verified by fuzzy approximation algorithm.In the aspect of dynamic modeling,Kane's method is used to establish the dynamic model of dolphin's flapping and C-type rotation.At the same time,the fluid-structure coupling method and particle swarm optimization algorithm are used to optimize the motion parameters of joints.The parameters are introduced into the sliding mode control.The tracking of path and control of determine depth are carried out in plane.It provides a fundamental theory for maneuverability and three-dimensional control of robotic dolphin in the future.Meanwhile the robotic dolphins can be well controlled in a predetermined environment.