仿生型水下載具藉由關節撓度控制以降低推進耗能之研究

Abstract

本論文針對仿生型水下載具設計其尾部關節撓度控制的方法，其目的為使馬達推進更具效率。利用一對稱翼在流場中進行大振幅的橫移與橫擺運動，藉以模擬仿生型水下載具的尾鰭推進機構。此振動翼由馬達經彈簧驅動，而控制方法則是調控彈簧撓度以使馬達達到較佳的驅動效率。數值模擬的結果證明使用關節撓度控制法可以減少馬達驅動振動翼所需的耗能，因此將來可實際運用在仿生型水下載具上。本論文共分五個章節，第一章介紹本研究之背景、文獻回顧及論文架構。第二章摘要現有振動翼之勢流理論流體動力計算方法。第三章則討論能量儲存與彈性元件的關係，藉由調控翼與馬達之間的彈簧撓度，以降低馬達的能量消耗。第四章為模擬結果與討論，分析在不同運動模式下，使用本控制法的成效。第五章則是研究結果與未來展望。 關鍵字：仿生，水下載具，撓度控制，推進效率，振動翼

The work describes a compliance control scheme for the caudal joint motion of a biomimetic autonomous underwater vehicle (BAUV). The purpose of the control method is to use the motor power more effectively for propulsion. A symmetric foil executing large-amplitude sway and yaw motions in a flow imitates a flapping tail fin which is used as the propulsive device of BAUV. Motions of the oscillating foil are then actuated by motors through springs. A control method was derived for the determination of the spring compliance for better use of the motors’ driving power. It is verified that the compliance control method can reduce the amount of energy for the propulsion of the foil and is feasible for the future applications for BAUVs. Key Words: biomimetic, underwater vehicles, compliance control, propulsive efficiency, oscillating foil