中文摘要：

二维、三维的 biomimetic 的自己推动的游泳的数字模拟和控制捞学校在一粘滞流动被调查。与为二维、三维的动人的边界问题，它联合适应多格子的一个平行计算液体动力学包裹有限体积方法和液体的沉浸的边界和体积的方法，它在wakes 由于旋涡的相互作用被发现那没有合适的控制，有一条给定的 flapping 规则的鱼学校游泳不能保留一个队列的固定形状。以便理解鱼的秘密游泳，鱼运动的新反馈控制策略第一次被建议，即，运动速度被 flapping 频率调整尾，并且游泳的方向被摇摆一条鱼的头控制。结果证明与这反馈控制策略，一所鱼学校能把一个队列的好顺序放在航行，在圆附近转弯或游泳。这新控制策略，分开速度控制和方向控制，在 biomimetic 机器人鱼，它极大地与简化一条 biomimetic 机器人鱼的控制设备的构造是重要的。关键词自己推动的游泳 - 鱼游泳的反馈控制策略 - 方向控制 - 运动速度控制 - 三维的 biomimetic 鱼工程被中国(10172095 和 10672183 ) 的国家自然科学基础支持。

英文摘要：

Numerical simulation and control of self- propelled swimming of two- and three-dimensional biomimetic fish school in a viscous flow are investigated. With a parallel computational fluid dynamics package for the two- and three-dimensional moving boundary problem, which combines the adaptive multi-grid finite volume method and the methods of immersed boundary and volume of fluid, it is found that due to the interactions of vortices in the wakes, without proper control, a fish school swim with a given flap- ping rule can not keep the fixed shape of a queue. In order to understand the secret of fish swimming, a new feedback con- trol strategy of fish motion is proposed for the first time, i,e., the locomotion speed is adjusted by the flapping frequency of the caudal, and the direction of swimming is controlled by the swinging of the head of a fish. Results show that with this feedback control strategy, a fish school can keep the good order of a queue in cruising, turning or swimming around circles. This new control strategy, which separates the speed control and direction control, is important in the construction of biomimetic robot fish, with which it greatly simplifies the control devices of a biomimetic robot fish.