Motion model of fish-like underwater vehicle and its effect on hydrodynamic performance

摘要

Autonomous Underwater Vehicle (AUV) is a kind of equipment working in the ocean, which can collect hydrological parameters, detect submarine topography and so on. With the increasing depth of research and complexity of exploration, scientists concentrate on bionic-autonomous underwater vehicle (Bio-AUV). In this paper, three kinds of motion model is put forward based on the observation of fish movement, as Oscillating Model obeying Polynomial function (OMP), Undulatory Model obeying Polynomial function (UMP) and Undulatory Model obeying Exponential function (UME). The movement characteristics and hydrodynamic performance are analyzed for those motion models. Besides, the effect of motion amplitude and motion frequency are studied based on the UME. It shows that UME is the best motion model and adjusting motion amplitude is a better choice than adjusting motion frequency. This paper will do favor in physical prototype development and motion control of fish-like underwater vehicle.