【摘要】 水下仿生机器鱼由于其高效而灵活的水下运动而受到广泛关注。至今,人们对于水下机器人的研究主要集中在运动仿生以及动力学机理解释等方面,对于机器鱼的运动中的实时功率消耗研究还几乎空白。其中一个主要原因是水下机器人的功率消耗不能直接实时获得,因而提出了一个实时在线高速功率测量系统,通过该系统能够实现5000 S/s的采样速率,获得精确的机器鱼在水中运动下的实时功率,从而为后期提高机器鱼游动效率的研究做基础铺垫。一系列实验证明了其对水下机器人的实时效率检测的有效性。此外,实现对机器鱼的功耗评估能够更好地为设计节能型水下航行器提供有力的指南。更多还原

【Abstract】 Robotic fishes have received wide attention due to their high propulsion efficiency and remarkable manoeuvrability.At present,the research on the autonomous underwater vehicles(AUVs) are mostly focused on the movement bionics and the dynamics mechanisms of fish swimming,etc.To the best knowledge of the author,none is done for the online power measurement of the swimming robotic fish.One of the main reasons is that the pure power consumption during fish swimming is hard to be measured.Therefore,an online power capture system for the under water robots is firsdy designed and implemented.Based on this system,both voltage and current at a speed of 5000 S/s can be acquired and thus the accurate power consumption can be obtained when fish swims in water.This work lays a foundation for the definition and improvement of the propulsion efficiency.The effectiveness of the system is verified through series of experiments on the real robotic fish.Further,the implementation of the system can give a suggestion for the design of energy saving under water vehicles.更多还原