CN107818210B - Method and system for determining motion energy consumption of fin-propelled robotic fish - Google Patents

Method and system for determining motion energy consumption of fin-propelled robotic fish Download PDF

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CN107818210B
CN107818210B CN201711019161.5A CN201711019161A CN107818210B CN 107818210 B CN107818210 B CN 107818210B CN 201711019161 A CN201711019161 A CN 201711019161A CN 107818210 B CN107818210 B CN 107818210B
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沈艳
许启新
章洁
张榕
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Chengdu University of Information Technology
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Abstract

The invention discloses a method and a system for determining motion energy consumption of a fin-propelled robotic fish. The method comprises the following steps: acquiring a swing deflection angle, a swing amplitude and a swing frequency of a tail fin of the robotic fish; determining an energy consumption model of the robot fish; and calculating the motion energy consumption of the robot fish according to the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robot fish and an energy consumption model of the robot fish. The method and the system for determining the motion energy consumption of the fin-propelled robotic fish provided by the invention provide a calculation model of the motion energy consumption of the robotic fish, the motion energy consumption model is associated with the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robotic fish, and the motion energy consumption of the robotic fish can be calculated according to the motion energy consumption model and the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robotic fish.

Description

Method and system for determining motion energy consumption of fin-propelled robotic fish
Technical Field
The invention relates to the field of robotic fish, in particular to a method and a system for determining motion energy consumption of a fin-propelled robotic fish.
Background
Currently, in the prior art, two methods are generally adopted for researching the motion energy consumption of the robotic fish, one method is to calculate the motion energy consumption by using an equation of E ═ UIt, but the method is not related to the motion parameters of the tail fin (such as the swing deflection angle, the swing amplitude and the swing frequency of the tail fin), so that the energy consumption needs to be measured once every time the motion parameters of the tail fin of the robotic fish are changed, and the method is time-consuming and has low precision. The other method is to determine the relationship between the swing deflection angle, the swing amplitude and the swing frequency of the tail fin and the energy consumption through an experimental method, but there are differences between the robotic fish, such as the mass and the size of the robotic fish, and therefore, the energy consumption model established by the method still needs to be calibrated, and the operation is complicated.
Disclosure of Invention
The invention aims to provide a method and a system for determining motion energy consumption of a fin-propelled robotic fish, which can be used for correlating the tail fin energy consumption of the robotic fish with motion parameters of tail fins, and are short in time consumption, high in precision and simple and convenient to operate.
In order to achieve the purpose, the invention provides the following scheme:
a method for determining kinetic energy consumption of fin-propelled robotic fish, the method comprising:
acquiring a swing deflection angle, a swing amplitude and a swing frequency of a tail fin of the robotic fish;
determining an energy consumption model of the robot fish, wherein the energy consumption model of the robot fish is
Figure BDA0001447047460000011
Wherein, ω isAFrequency of oscillation of tail fin of robotic fish, αAAmplitude of oscillation of tail fin of robotic fish, α0Is the swing deflection angle of the tail fin of the robot fish, t is the movement time of the robot fish, c1Is the effective coefficient of the speed of the robotic fish, c2Is effective coefficient of thrust of the tail fin of the machine fish, rho is water density, d is width of the tail fin of the machine fish, L is length of the tail fin of the machine fish, S is contact area of the machine fish and the water, CDThe resistance coefficient of the robot fish;
and calculating the motion energy consumption of the robot fish according to the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robot fish and an energy consumption model of the robot fish.
Optionally, the determining the energy consumption model of the robotic fish specifically includes:
determining a motion speed model of the robot fish;
determining a thrust model of the tail fin of the robotic fish;
and determining an energy consumption model of the robot fish according to the motion speed model of the robot fish and the thrust model of the tail fin of the robot fish.
Optionally, the determining the movement speed model of the robotic fish specifically includes:
according to Lighthill's elongate body theory, what is determinedThe dynamic model of the robot fish is
Figure BDA0001447047460000021
Wherein α - α0+αAsin(ωAt)，k1＝mL2/(2mb)，k2＝L2mc/(2J)，k3＝KD/J，k4＝Lm3/(3J)，
Figure BDA0001447047460000022
Figure BDA0001447047460000023
u is the vertical speed of the robot fish under a coordinate system, v is the horizontal speed of the robot fish under the coordinate system, r is the turning speed of the robot fish under the coordinate system, α is the swinging angle of the tail fin of the robot fish, m is the mass of the tail fin unit length of the robot fish, m is the vertical speed of the robot fish under the coordinate system, v is the horizontal speed of the robot fish under the coordinatebThe mass of the robot fish, c is the distance between the tail fin of the robot fish and the center of the fish body of the robot fish, J is the moment of inertia of the robot fish, KDIs the drag moment coefficient of the robotic fish;
determining the acceleration of the robot fish according to the kinetic model of the robot fish, wherein the acceleration of the robot fish is
Figure BDA0001447047460000024
Wherein V is the speed of the robotic fish, V/sin β u/cos β;
determining a motion speed model when the robot fish moves at a constant speed according to the acceleration of the robot fish, wherein the motion speed model is
Figure BDA0001447047460000031
Wherein the content of the first and second substances,
Figure BDA0001447047460000032
optionally, the determining a thrust model of the tail fin of the robotic fish specifically includes:
according to the Lighthill slender body theory, determining a thrust model of the tail fin of the robot fish when the robot fish moves at a uniform speed, wherein the thrust model of the tail fin of the robot fish is
Figure BDA0001447047460000033
Optionally, the determining the energy consumption model of the robotic fish according to the motion speed model of the robotic fish and the thrust model of the tail fin of the robotic fish specifically includes:
according to the formula E (ω)A,αA,α0,t)＝∫F(ωA,αA,α0)·V(ωA,αA,α0) dt determining an energy consumption model of the robot fish, the energy consumption model of the robot fish being
Figure BDA0001447047460000034
The invention also provides a system for determining the movement energy consumption of the fin propelled robotic fish, which comprises:
the parameter acquisition module is used for acquiring the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robotic fish;
an energy consumption model determining module for determining an energy consumption model of the robot fish, wherein the energy consumption model of the robot fish is
Figure BDA0001447047460000035
Wherein, ω isAFrequency of oscillation of tail fin of robotic fish, αAAmplitude of oscillation of tail fin of robotic fish, α0Is the swing deflection angle of the tail fin of the robot fish, t is the movement time of the robot fish, c1Is the effective coefficient of the speed of the robotic fish, c2Is effective coefficient of thrust of the tail fin of the machine fish, rho is water density, d is width of the tail fin of the machine fish, L is length of the tail fin of the machine fish, S is contact area of the machine fish and the water, CDThe resistance coefficient of the robot fish;
and the energy consumption calculation module is used for calculating the movement energy consumption of the robot fish according to the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robot fish and the energy consumption model of the robot fish.
Optionally, the energy consumption model determining module specifically includes:
the movement speed model determining unit is used for determining a movement speed model of the robot fish;
the thrust model determining unit is used for determining a thrust model of the tail fin of the robot fish;
and the energy consumption model determining unit is used for determining the energy consumption model of the robot fish according to the movement speed model of the robot fish and the thrust model of the tail fin of the robot fish.
Optionally, the motion speed model determining unit specifically includes:
a kinetic model determining subunit for determining a kinetic model of the robotic fish according to Lighthill slender bodies theory, the kinetic model of the robotic fish being
Figure BDA0001447047460000041
Wherein α - α0+αAsin(ωAt)，k1＝mL2/(2mb)，k2＝L2mc/(2J)，k3＝KD/J，k4＝Lm3/(3J)，
Figure BDA0001447047460000042
Figure BDA0001447047460000043
u is the vertical speed of the robot fish under a coordinate system, v is the horizontal speed of the robot fish under the coordinate system, r is the turning speed of the robot fish under the coordinate system, α is the swinging angle of the tail fin of the robot fish, m is the mass of the tail fin unit length of the robot fish, m is the vertical speed of the robot fish under the coordinate system, v is the horizontal speed of the robot fish under the coordinatebThe mass of the robot fish, c is the distance between the tail fin of the robot fish and the center of the fish body of the robot fish, J is the moment of inertia of the robot fish, KDIs the drag moment coefficient of the robotic fish;
acceleration determination subunit forAccording to the kinetic model of the robot fish, determining the acceleration of the robot fish, wherein the acceleration of the robot fish is
Figure BDA0001447047460000051
Wherein V is the speed of the robotic fish, V/sin β u/cos β;
a motion velocity model determining subunit, configured to determine, according to the acceleration of the robot fish, a motion velocity model when the robot fish moves at a constant velocity, where the motion velocity model is
Figure BDA0001447047460000052
Wherein the content of the first and second substances,
Figure BDA0001447047460000053
optionally, the thrust model determining unit specifically includes:
a thrust model determining subunit, configured to determine, according to the Lighthill slender body theory, a thrust model of the tail fin of the robotic fish when the robotic fish moves at a uniform speed, where the thrust model of the tail fin of the robotic fish is
Figure BDA0001447047460000054
Optionally, the energy consumption model determining unit specifically includes:
an energy consumption model determining subunit according to the formula E (ω)A,αA,α0,t)＝∫F(ωA,αA,α0)·V(ωA,αA,α0) dt determining an energy consumption model of the robot fish, the energy consumption model of the robot fish being
Figure BDA0001447047460000055
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the method and the system for determining the motion energy consumption of the fin-propelled robotic fish provided by the invention provide a calculation model of the motion energy consumption of the robotic fish, the motion energy consumption model is associated with the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robotic fish, and the motion energy consumption of the robotic fish can be calculated according to the motion energy consumption model and the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robotic fish.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of a method for determining movement energy consumption of a robot fish according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the planar movement of a robotic fish according to an embodiment of the present invention;
fig. 3 is a diagram of a system for determining the movement energy consumption of the robot fish according to the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method and a system for determining motion energy consumption of a fin-propelled robotic fish, which can be used for correlating the tail fin energy consumption of the robotic fish with motion parameters of tail fins, and are short in time consumption, high in precision and simple and convenient to operate.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a flowchart of a method for determining movement energy consumption of a robotic fish according to an embodiment of the present invention, and as shown in fig. 1, the method for determining movement energy consumption of a robotic fish includes the following specific steps:
step 101: acquiring a swing deflection angle, a swing amplitude and a swing frequency of a tail fin of the robotic fish;
step 102: determining an energy consumption model of the robot fish, wherein the energy consumption model of the robot fish is
Figure BDA0001447047460000061
Wherein, ω isAFrequency of oscillation of tail fin of robotic fish, αAAmplitude of oscillation of tail fin of robotic fish, α0Is the swing deflection angle of the tail fin of the robot fish, t is the movement time of the robot fish, c1Effective coefficient of the speed of the robot fish, accuracy for adjusting the speed of the robot fish, c2Effective coefficient of thrust of the tail fin of the robotic fish and precision of the thrust of the tail fin of the robotic fish, rho is water density, d is width of the tail fin of the robotic fish, L is length of the tail fin of the robotic fish, S is contact area of the robotic fish and the water, CDThe resistance coefficient of the robot fish;
step 103: and calculating the motion energy consumption of the robot fish according to the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robot fish and an energy consumption model of the robot fish.
Wherein step 102 determines an energy consumption model of the robotic fish, comprising:
determining a motion speed model of the robot fish;
determining a thrust model of the tail fin of the robotic fish;
and determining an energy consumption model of the robot fish according to the motion speed model of the robot fish and the thrust model of the tail fin of the robot fish.
Specifically, determining a movement speed model of the robot fish specifically includes:
according to Lighthill slender body theory, a kinetic model of the robotic fish is determined. The dynamic model of the robot fish is
Figure BDA0001447047460000071
Wherein α - α0+αAsin(ωAt)，k1＝mL2/(2mb)，k2＝L2mc/(2J)，k3＝KD/J，k4＝Lm3/(3J)，
Figure BDA0001447047460000072
Figure BDA0001447047460000073
u is the vertical speed of the robot fish under a coordinate system, v is the horizontal speed of the robot fish under the coordinate system, r is the turning speed of the robot fish under the coordinate system, α is the swinging angle of the tail fin of the robot fish, m is the mass of the tail fin unit length of the robot fish, m is the vertical speed of the robot fish under the coordinate system, v is the horizontal speed of the robot fish under the coordinatebThe mass of the robot fish, c is the distance between the tail fin of the robot fish and the center of the fish body of the robot fish, J is the moment of inertia of the robot fish, KDIs the inherent moment coefficient of resistance of the robotic fish.
Determining the acceleration of the robot fish according to the kinetic model of the robot fish, wherein the acceleration of the robot fish is
Figure BDA0001447047460000074
Wherein V is the speed of the robotic fish, V/sin β u/cos β;
determining a motion speed model when the robot fish moves at a constant speed according to the acceleration of the robot fish, wherein the motion speed model is
Figure BDA0001447047460000081
Wherein the content of the first and second substances,
Figure BDA0001447047460000082
the determining of the thrust model of the tail fin of the robotic fish specifically comprises:
according to the Lighthill slender body theory, determining a thrust model of the tail fin of the robot fish when the robot fish moves at a uniform speed, wherein the thrust model of the tail fin of the robot fish is
Figure BDA0001447047460000083
The determining the energy consumption model of the robot fish according to the movement speed model of the robot fish and the thrust model of the tail fin of the robot fish specifically comprises:
according to the formula E (ω)A,αA,α0,t)＝∫F(ωA,αA,α0)·V(ωA,αA,α0) dt determining an energy consumption model of the robot fish, the energy consumption model of the robot fish being
Figure BDA0001447047460000084
As another embodiment of the present invention, first, a dynamic model of the robotic fish is established, fig. 2 is a schematic plane motion diagram of the robotic fish according to the embodiment of the present invention, and as shown in fig. 2, a fish body coordinate system UVWO is established in an inertial coordinate system XYO 'of the robotic fish, where the inertial coordinate system XYO' includes a fish body centroid O as an origin, a fish body 201 direction as a U-axis, and a direction perpendicular to the fish body direction from the origin as a V-axis. The thrust generated by the periodical swinging of the tail fin 202 pushes the robot fish to move, and the speed thrust of the robot fish is determined by the swinging angle alpha of the tail fin:
α(t)＝α0+αAsin(ωAt)
wherein αAAmplitude of tail fin swing α0The swing deflection angle of the tail fin is; omegaAIs the tail fin oscillation frequency; and t is tail fin swing time. The tail fin swing deflection angle is an angle at which the tail fin swing of the robotic fish deflects when the robotic fish turns.
Based on the Lighthill slender body theory, the dynamic model of the tail fin type robotic fish is as follows:
Figure BDA0001447047460000091
wherein: k is a radical of1＝mL2/(2mb),k2＝L2mc/(2J),k3＝KD/J,k4＝Lm3/(3J),
Figure BDA0001447047460000092
Figure BDA0001447047460000093
The meanings of the other symbols described are shown in Table 1.
TABLE 1 associated symbols and meanings
Figure BDA0001447047460000094
Figure BDA0001447047460000101
Determining a model of the movement speed of the robot fish, wherein the kinetic model does not establish a direct functional relation between the movement control parameters and the movement speed of the robot fish, and a robot fish movement system is a highly nonlinear system with a plurality of control variables and strong coupling property, and the swing deflection angle α of the tail fin propelled robot fish0Included in periodic oscillation signal α (t) and α (t) also included in the robotic fish dynamics model oscillation term to facilitate further development of the study, the robotic fish dynamics model was again refined to find a velocity model that can be directly represented as input term α (t).
Let v be Vsin β, u be Vcos β and u, v be extracted separately as a first order nonlinear differential equation set as follows:
Figure BDA0001447047460000102
and (3) solving a first-order full differential of the speed to obtain an acceleration equation of the robot fish:
Figure BDA0001447047460000103
when dV/dt is equal to 0, the robot fish is in a uniform motion state, and t is equal to pi/(2 omega)A) Replacing the speed value on the whole time axis with the speed value at the moment to obtain a speed model of the uniform motion of the robot fish after the motion control parameters are given:
Figure BDA0001447047460000104
wherein: and the angle beta is an included angle between the projection of the velocity vector V on the UVO plane and a positive half axis of the U axis.
Under the condition of the same swing amplitude and deflection angle of the tail fin, even if the swing frequency of the tail fin is different, the beta value is unchanged; the swing amplitude of the tail fin is increased, and the oscillation amplitude of the beta mean value is slightly increased (within +/-11.7 percent and within 2 percent of the influence on the speed); the swing amplitude of the tail fin is unchanged, and the beta value is related to the swing deflection angle of the tail fin. Thus, the relationship between the β value and the swing declination is established as:
Figure BDA0001447047460000111
therefore, the velocity model of the robot fish moving at a constant velocity can be expressed as:
Figure BDA0001447047460000112
wherein, c1The effective coefficient of the speed of the robot fish is used for adjusting the precision of the moving speed of the robot fish, and the value is 0.71.
Determining a thrust model of the robotic fish, wherein the acceleration is 0 in a uniform motion state, and the resultant force of the resistance and the thrust of the robotic fish is 0 according to Newton's second motion theorem; according to the Newton's third motion theorem, the thrust generated by the swinging of the tail fin is equal to the fluid resistance of the robot fish in motion, and the direction is opposite. The thrust borne by the robotic fish in the fish body coordinate system can be decomposed into fish body stress FhForce F on tail finkThe following formula is shown below.
Figure BDA0001447047460000113
Figure BDA0001447047460000114
When dV/dt is 0, the robotic fish thrust equation can be derived:
Figure BDA0001447047460000115
get
Figure BDA0001447047460000116
The velocity value of the time instead of the thrust value on the whole time axis is:
Figure BDA0001447047460000121
for convenient calculation and model simplification, the summation term of the latter half of the above equation is processed by function approximation:
Figure BDA0001447047460000122
the constant-speed tour thrust simplified model of the robotic fish is as follows:
Figure BDA0001447047460000123
wherein, c2The effective coefficient of the thrust of the tail fin of the machine fish and the precision for adjusting the thrust can be 0.71.
Determining a robot fish motion energy consumption model: under the uniform speed state, the movement energy consumption of the robot fish is completely converted into the movement state in the corresponding time period, and the displacement generated by the thrust acts. After the speed and thrust modeling is completed, the robot fish motion energy consumption model is easy to obtain. And giving swing parameters and swing time of the tail fin to obtain the movement energy consumption of the robot fish.
Figure BDA0001447047460000124
And comparing the experimental data with the energy consumption value result output by the corresponding model, and controlling the error of the experimental result and the model result within +/-5% to prove the effectiveness of the energy consumption model.
The invention provides a method for determining motion energy consumption of a fin-propelled robotic fish, which provides a computation model of the motion energy consumption of the robotic fish, wherein the motion energy consumption model is associated with the swing deflection angle, the swing amplitude and the swing frequency of a tail fin of the robotic fish, and the motion energy consumption of the robotic fish can be computed according to the motion energy consumption model and the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robotic fish.
The invention also provides a system for determining the movement energy consumption of the fin propelled robotic fish, which comprises:
the parameter obtaining module 301 is configured to obtain a swing deflection angle, a swing amplitude and a swing frequency of the tail fin of the robotic fish;
an energy consumption model determination module 302 for determining an energy consumption model of the robotic fish, the energy consumption model of the robotic fish being
Figure BDA0001447047460000131
Wherein, ω isAFrequency of oscillation of tail fin of robotic fish, αAAmplitude of oscillation of tail fin of robotic fish, α0Is the swing deflection angle of the tail fin of the robot fish, t is the movement time of the robot fish, c1Is the effective coefficient of the speed of the robotic fish, c2Is effective coefficient of thrust of the tail fin of the machine fish, rho is water density, d is width of the tail fin of the machine fish, L is length of the tail fin of the machine fish, S is contact area of the machine fish and the water, CDThe resistance coefficient of the robot fish;
and the energy consumption calculating module 303 is configured to calculate motion energy consumption of the robotic fish according to the swing deflection angle, the swing amplitude, the swing frequency of the tail fin of the robotic fish and an energy consumption model of the robotic fish.
The energy consumption model determining module 302 specifically includes:
the movement speed model determining unit is used for determining a movement speed model of the robot fish;
the thrust model determining unit is used for determining a thrust model of the tail fin of the robot fish;
and the energy consumption model determining unit is used for determining the energy consumption model of the robot fish according to the movement speed model of the robot fish and the thrust model of the tail fin of the robot fish.
The motion speed model determining unit specifically includes:
a kinetic model determining subunit for determining a kinetic model of the robotic fish according to Lighthill slender bodies theory, the kinetic model of the robotic fish being
Figure BDA0001447047460000132
Wherein α - α0+αAsin(ωAt)，k1＝mL2/(2mb)，k2＝L2mc/(2J)，k3＝KD/J，k4＝Lm3/(3J)，
Figure BDA0001447047460000141
Figure BDA0001447047460000142
u is the vertical speed of the robot fish under a coordinate system, v is the horizontal speed of the robot fish under the coordinate system, r is the turning speed of the robot fish under the coordinate system, α is the swinging angle of the tail fin of the robot fish, m is the mass of the tail fin unit length of the robot fish, m is the vertical speed of the robot fish under the coordinate system, v is the horizontal speed of the robot fish under the coordinatebThe mass of the robot fish, c is the distance between the tail fin of the robot fish and the center of the fish body of the robot fish, J is the moment of inertia of the robot fish, KDIs the drag moment coefficient of the robotic fish;
an acceleration determining subunit, configured to determine an acceleration of the robotic fish according to the kinetic model of the robotic fish, the acceleration of the robotic fish being
Figure BDA0001447047460000143
Wherein V is the speed of the robotic fish, V/sin β u/cos β;
a motion velocity model determining subunit, configured to determine, according to the acceleration of the robot fish, a motion velocity model when the robot fish moves at a constant velocity, where the motion velocity model is
Figure BDA0001447047460000144
Wherein the content of the first and second substances,
Figure BDA0001447047460000145
the thrust model determining unit specifically includes:
a thrust model determining subunit, configured to determine, according to the Lighthill slender body theory, a thrust model of the tail fin of the robotic fish when the robotic fish moves at a uniform speed, where the thrust model of the tail fin of the robotic fish is
Figure BDA0001447047460000146
The energy consumption model determining unit specifically includes:
an energy consumption model determining subunit according to the formula E (ω)A,αA,α0,t)＝∫F(ωA,αA,α0)·V(ωA,αA,α0) dt determining an energy consumption model of the robot fish, the energy consumption model of the robot fish being
Figure BDA0001447047460000151
The system for determining motion energy consumption of the fin-propelled robotic fish provided by the invention provides a computation model of the motion energy consumption of the robotic fish, the motion energy consumption model is associated with the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robotic fish, and the motion energy consumption of the robotic fish can be computed according to the motion energy consumption model and the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robotic fish, so that the system has the characteristics of simple, convenient and fast computation and high precision.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1. A method for determining motion energy consumption of fin-propelled robotic fish, the method comprising:
acquiring a swing deflection angle, a swing amplitude and a swing frequency of a tail fin of the robotic fish;
determining an energy consumption model of the robot fish, wherein the energy consumption model of the robot fish is
Figure FDA0002621993570000011
Figure FDA0002621993570000012
Wherein, ω isAFrequency of oscillation of tail fin of robotic fish, αAAmplitude of oscillation of tail fin of robotic fish, α0Is the swing deflection angle of the tail fin of the robot fish, t is the movement time of the robot fish, c1Is the effective coefficient of the speed of the robotic fish, c2Is effective coefficient of thrust of the tail fin of the machine fish, rho is water density, d is width of the tail fin of the machine fish, L is length of the tail fin of the machine fish, S is contact area of the machine fish and the water, CDThe resistance coefficient of the robot fish;
and calculating the motion energy consumption of the robot fish according to the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robot fish and an energy consumption model of the robot fish.
2. The method according to claim 1, wherein the determining the model of the energy consumption of the robotic fish specifically comprises:
determining a motion speed model of the robot fish;
determining a thrust model of the tail fin of the robotic fish;
and determining an energy consumption model of the robot fish according to the motion speed model of the robot fish and the thrust model of the tail fin of the robot fish.
3. The method for determining the movement velocity of the robotic fish according to claim 2, wherein the determining the movement velocity model of the robotic fish specifically comprises:
according to Lighthill slender body theory, determining a kinetic model of the robotic fish, wherein the kinetic model of the robotic fish is
Figure FDA0002621993570000013
Wherein α - α0+αAsin(ωAt)，k1＝mL2/(2mb)，k2＝L2mc/(2J)，k3＝KD/J，k4＝Lm3/(3J)，
Figure FDA0002621993570000021
Figure FDA0002621993570000022
u is the vertical speed of the robot fish under a coordinate system, v is the horizontal speed of the robot fish under the coordinate system, r is the turning speed of the robot fish under the coordinate system, α is the swinging angle of the tail fin of the robot fish, m is the mass of the tail fin unit length of the robot fish, m is the vertical speed of the robot fish under the coordinate system, v is the horizontal speed of the robot fish under the coordinatebThe mass of the robot fish, c is the distance between the tail fin of the robot fish and the center of the fish body of the robot fish, J is the moment of inertia of the robot fish, KDIs the drag moment coefficient of the robotic fish;
determining the acceleration of the robot fish according to the kinetic model of the robot fish, wherein the acceleration of the robot fish is
Figure FDA0002621993570000023
Wherein V is the speed of the robotic fish, V/sin β u/cos β;
determining a motion speed model when the robot fish moves at a constant speed according to the acceleration of the robot fish, wherein the motion speed model is
Figure FDA0002621993570000024
Wherein the content of the first and second substances,
Figure FDA0002621993570000025
4. the method for determining according to claim 2, wherein the determining of the thrust model of the tail fin of the robotic fish specifically comprises:
according to the Lighthill slender body theory, determining a thrust model of the tail fin of the robot fish when the robot fish moves at a uniform speed, wherein the thrust model of the tail fin of the robot fish is
Figure FDA0002621993570000026
5. The determination method according to claim 2, wherein the determining the energy consumption model of the robotic fish according to the motion speed model of the robotic fish and the thrust model of the tail fin of the robotic fish specifically comprises:
according to the formula E (ω)A,αA,α0,t)＝∫F(ωA,αA,α0)·V(ωA,αA,α0) dt determining an energy consumption model of the robot fish, the energy consumption model of the robot fish being
Figure FDA0002621993570000031
6. A system for determining kinetic energy consumption of a fin-propelled robotic fish, the system comprising:
the parameter acquisition module is used for acquiring the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robotic fish;
an energy consumption model determining module for determining an energy consumption model of the robot fish, wherein the energy consumption model of the robot fish is
Figure FDA0002621993570000032
Figure FDA0002621993570000033
Wherein, ω isAFrequency of oscillation of tail fin of robotic fish, αAAmplitude of oscillation of tail fin of robotic fish, α0Is the swing deflection angle of the tail fin of the robot fish, t is the movement time of the robot fish, c1Is the effective coefficient of the speed of the robotic fish, c2Is effective coefficient of thrust of the tail fin of the machine fish, rho is water density, d is width of the tail fin of the machine fish, L is length of the tail fin of the machine fish, S is contact area of the machine fish and the water, CDThe resistance coefficient of the robot fish;
and the energy consumption calculation module is used for calculating the movement energy consumption of the robot fish according to the swing deflection angle, the swing amplitude and the swing frequency of the tail fin of the robot fish and the energy consumption model of the robot fish.
7. The determination system according to claim 6, wherein the energy consumption model determination module specifically includes:
the movement speed model determining unit is used for determining a movement speed model of the robot fish;
the thrust model determining unit is used for determining a thrust model of the tail fin of the robot fish;
and the energy consumption model determining unit is used for determining the energy consumption model of the robot fish according to the movement speed model of the robot fish and the thrust model of the tail fin of the robot fish.
8. The determination system according to claim 7, wherein the motion velocity model determination unit specifically includes:
a kinetic model determining subunit for determining a kinetic model of the robotic fish according to Lighthill slender bodies theory, the kinetic model of the robotic fish being
Figure FDA0002621993570000041
Wherein α - α0+αAsin(ωAt)，k1＝mL2/(2mb)，k2＝L2mc/(2J)，k3＝KD/J，k4＝Lm3/(3J)，
Figure FDA0002621993570000042
Figure FDA0002621993570000043
u is the vertical speed of the robot fish under a coordinate system, v is the horizontal speed of the robot fish under the coordinate system, r is the turning speed of the robot fish under the coordinate system, α is the swinging angle of the tail fin of the robot fish, m is the mass of the tail fin unit length of the robot fish, m is the vertical speed of the robot fish under the coordinate system, v is the horizontal speed of the robot fish under the coordinatebThe mass of the robot fish, c is the distance between the tail fin of the robot fish and the center of the fish body of the robot fish, J is the moment of inertia of the robot fish, KDIs the drag moment coefficient of the robotic fish;
an acceleration determining subunit, configured to determine an acceleration of the robotic fish according to the kinetic model of the robotic fish, the acceleration of the robotic fish being
Figure FDA0002621993570000044
Wherein V is the speed of the robotic fish, V/sin β u/cos β;
a motion velocity model determining subunit, configured to determine, according to the acceleration of the robot fish, a motion velocity model when the robot fish moves at a constant velocity, where the motion velocity model is
Figure FDA0002621993570000045
Wherein the content of the first and second substances,
Figure FDA0002621993570000046
9. the determination system according to claim 7, wherein the thrust model determination unit specifically comprises:
thrust model determination subunitThe method is used for determining a thrust model of the tail fin of the robot fish when the robot fish moves at a constant speed according to the Lighthill slender body theory, wherein the thrust model of the tail fin of the robot fish is
Figure FDA0002621993570000051
10. The determination system according to claim 7, wherein the energy consumption model determination unit specifically includes:
an energy consumption model determining subunit according to the formula E (ω)A,αA,α0,t)＝∫F(ωA,αA,α0)·V(ωA,αA,α0) dt determining an energy consumption model of the robot fish, the energy consumption model of the robot fish being
Figure FDA0002621993570000052
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