Discrete Vortex Method-Based Fish-Like Locomotion Modeling
文献类型：期刊论文
| 作者 | Zou, Qianqian1,2 ; Zhou, Chao1,2; Zhu, Chunhui1,2; Zhang, Zhuoliang1,2; Fan, Junfeng1,2
|
| 刊名 | IEEE JOURNAL OF OCEANIC ENGINEERING
 |
| 出版日期 | 2024-01-17 |
| 页码 | 13 |
| 关键词 | Mathematical models Hydrodynamics Robot kinematics Tail Analytical models Shape Kinematics Discrete vortex method (DVM) dynamic modeling robotic fish |
| ISSN号 | 0364-9059 |
| DOI | 10.1109/JOE.2023.3338926 |
| 通讯作者 | Zhou, Chao(chao.zhou@ia.ac.cn) ; Fan, Junfeng(junfeng.fan@ia.ac.cn) |
| 英文摘要 | In nature, fish can achieve efficient swimming through vortex control, which is also a crucial factor in the propulsion of biomimetic robotic fish. Existing analytical models of robotic fish generally do not consider vortices. In addition, numerical methods for solving fluid dynamics are complex and computationally intensive. In this article, based on the discrete vortex method (DVM), the point vortex circulation caused by tail oscillation is calculated and an accurate and efficient dynamic model for robotic fish is established. Specifically, for a single-joint robotic fish, the hydrodynamic forces on the tail are analyzed using the DVM and calculated using the unsteady Bernoulli equation. And for the fish head, the simplified Morison equation is adopted to analyze the inertial forces and drag forces. Then, the dynamics of the entire robotic fish are derived using the Newton-Euler method, allowing for the calculation of position, velocity, forces, and wake circulation at each moment. As a result, the vortex structure obtained from the proposed method exhibits characteristics of a reverse Karman vortex street, similar to previous DPIV results and computational fluid dynamics (CFD) simulations. Furthermore, the simulated speeds closely match the experimental results with an average absolute error of 16.73%, which reduces the error by 2.95% compared to the conventional quasi-steady lift and drag model. Meanwhile, our method requires much less time consumption compared to the CFD method, making it convenient for application in the control and optimization of robotic fish. |
| WOS关键词 | ROBOTIC-FISH |
| 资助项目 | National Natural Science Foundation of China |
| WOS研究方向 | Engineering ; Oceanography |
| 语种 | 英语 |
| WOS记录号 | WOS:001167334600001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/57794]  |
| 专题 | 复杂系统管理与控制国家重点实验室_水下机器人 |
| 通讯作者 | Zhou, Chao; Fan, Junfeng |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zou, Qianqian,Zhou, Chao,Zhu, Chunhui,et al. Discrete Vortex Method-Based Fish-Like Locomotion Modeling[J]. IEEE JOURNAL OF OCEANIC ENGINEERING,2024:13. |
| APA | Zou, Qianqian,Zhou, Chao,Zhu, Chunhui,Zhang, Zhuoliang,&Fan, Junfeng.(2024).Discrete Vortex Method-Based Fish-Like Locomotion Modeling.IEEE JOURNAL OF OCEANIC ENGINEERING,13. |
| MLA | Zou, Qianqian,et al."Discrete Vortex Method-Based Fish-Like Locomotion Modeling".IEEE JOURNAL OF OCEANIC ENGINEERING (2024):13. |
入库方式： OAI收割
来源：自动化研究所
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