中文摘要：

在分析海豚尾部行波推进特点的基础上,提出了基于同频特征摆和相位差因子的行波推进运动学特征方程获取方法,并进一步设计了基于数据钳位的平均速度控制方法.首先,对海豚行波推进特点进行分析,指出动能映射原理同样适用于行波运动情形.通过定义同频特征摆和相位差因子,把无相位差推进方式下的动能映射运动学特征方程移植到行波推进模式.然后,针对移植后的运动学特征方程非线性更严重的特点,给出了数据钳位设计方法.数据钳位指利用动能映射系数,在首次运行时直接把系统状态钳位到目标速度附近的一个小范围区域内,并通过输入钳位和输出钳位把运行数据限制在这个有限范围.在此基础上,通过迭代学习辨识和重复控制作小范围的速度微调,实现平均速度控制.仿真与实验结果说明,移植后的行波推进运动学特征方程可以用于指导机器海豚推进运动,而基于数据钳位设计的迭代学习辨识与重复控制方法实现了机器海豚平均速度控制.

英文摘要：

By analyzing the travelling wave propulsion characteristics of dolphins’ tails, a travelling wave kinematic feature equation based on the same-frequency feature swing and phase difference factor is proposed, and an average speed control method based on the data-clamping rule is designed. Firstly, the travelling wave propulsion characteristics are analyzed, and it is shown that the kinetic energy mapping principle is also applicable to the travelling wave propulsion mode. A samefrequency feature swing and a phase difference factor are defined to transplant the kinematic feature equation without phase difference to that of the travelling wave propulsion mode. Secondly, a data-clamping design method is proposed to solve the stronger nonlinearity of the obtained equation. By data-clamping based on kinetic energy mapping coefficient, the system will directly reach a small interval around the target speed at the first operation, and all the input and output signals will be clamped within this limited interval. Consequently, the average speed control can be realized by fine-tuning the speed within a small range with iterative learning-identification and repeated control. Simulation and experiment results show that, the kinematic feature equation of the transplanted travelling wave propulsion can be used to guide the robotic dolphins’ movement, and the average speed control can be realized by the iterative learning-identification and repeated control method based on the data-clamping design.