基于IPMC的仿生鳐鱼运动机理与控制方法研究

项目名称： 基于IPMC的仿生鳐鱼运动机理与控制方法研究

项目编号： No.61005075

项目类型： 青年科学基金项目

立项/批准年度： 2011

项目学科： 金属学与金属工艺

项目作者： 董翔

作者单位： 中国科学院合肥物质科学研究院

项目金额： 7万元

中文摘要： 针对常规水下推进器存在运动效率低、结构尺寸大、机动性和隐蔽性差等问题，本课题从仿生学角度出发，研究仿生鳐鱼的运动机理与控制方法。从结构仿生入手，研究鳐鱼鱼体和胸鳍的形态结构；以运动仿生为基础，研究鳐鱼多种运动模式下的波动形态，归纳总结鳐鱼胸鳍的波动运动规律和两侧胸鳍的协调运动机制；分析鳐鱼波动运动的推进力产生机理，建立波动特征与推进力的关系。研究IPMC材料的制备方法，利用制备的IPMC材料研究其致动和传感特性，基于IPMC材料研究仿生鳐鱼的驱动结构设计问题。以控制仿生为目标，利用IPMC的驱动传感特性，采用CPG模型研究基于多个IPMC驱动单元的仿生鳐鱼控制方法。本课题涉及生物、仿生、材料、控制等多个学科，研究成果将为高效、小尺寸、高机动性和高隐蔽性的新型水下推进方式的实现提供必要的理论和技术基础。

中文关键词： 仿生鳐鱼；波动推进；智能材料；运动控制

英文摘要： Aiming at the problems of low efficiency, big structure size, poor mobility and concealment of conventional underwater propulsors, this project carried on research from the perspective of bionics and concentrates on the motion mechanism and control strategy of biomimetic ray.Starting from the structure bionics, we researched the shape and structure of ray's body and fins. Based on the motion bionics, we researched the ray's undulatory shapes in different motion modes,　summarized the motion laws of the ray's fin and the coordinated motion mechanism of paired fins,analyzed the mechanism of thrust produced by the ray's undulatory motion, and established the relation between the characters of the undulation and the thrust. Then we researched the preparation method of IPMC material. Based on the prepared IPMC material,we researched the drive and sense characteristics.Then we researched the design problem of drive structure of the biomimetic ray. Aiming at control bionics and utilizing the drive and sense characteristics of IPMC, we researched the control method for the biomimetic ray utilizing CPG model to implement coordinated motion of multiple IPMC drive units. This project involves biology, bionics,material, control and other disciplines. The research production will provide necessary theoretical and technical foundation for the developmet of efficient, small size, high maneuvering and concealed underwater proplusor.

英文关键词： biomimetic ray; undulatory locomotion; intelligent material; motion control