J4 ›› 2010, Vol. 7 ›› Issue (1): 56-65.doi: 10.1016/S1672-6529(09)60183-9
Fuzzy Vorticity Control of a Biomimetic Robotic Fish Using a Flapping Lunate Tail
Tianmiao Wang1, Li Wen1, Jianhong Liang1, Guanhao Wu2
- 1. Robotic Institute, School of Mechanical Engineering and Automation, Beihang Unviversity, Beijing 100191, P. R. China
2. State Key Laboratory of Precision Measurement, Technology and Instruments, Department of Precision Instruments,
Tsinghua University, Beijing 100084, P. R. China
Fuzzy Vorticity Control of a Biomimetic Robotic Fish Using a Flapping Lunate Tail
Tianmiao Wang1, Li Wen1, Jianhong Liang1, Guanhao Wu2
- 1. Robotic Institute, School of Mechanical Engineering and Automation, Beihang Unviversity, Beijing 100191, P. R. China
2. State Key Laboratory of Precision Measurement, Technology and Instruments, Department of Precision Instruments,
Tsinghua University, Beijing 100084, P. R. China
摘要：
Vorticity control mechanisms for flapping foils play a guiding role in both biomimetic thrust research and modeling the forward locomotion of animals with wings, fins, or tails. In this paper, a thrust-producing flapping lunate tail is studied through force and power measurements in a water channel. Proper vorticity control methods for flapping tails are discussed based on the vorticity control parameters: the dimensionless transverse amplitude, Strouhal number, angle of attack, and phase angle. Field tests are conducted on a free-swimming biomimetic robotic fish that uses a flapping tail. The results show that active control of Strouhal number using fuzzy logic control methods can efficiently reduce power consumption of the robotic fish and high swimming speeds can be obtained. A maximum speed of 1.17 length specific speed is obtained experimentally under conditions of optimal vorticity control. The St of the flapping tail is controlled within the range of 0.4~0.5.