博士学位论文 一种超磁机器鱼的设计和游动控制的数值模拟 A Design of the Bionic Robot Fish Actuated by the Giant Magnetostrictive Material and Numerical Simulation of Its Swimming Control 作者姓名： 胡俊林 学科、专业： 固体力学 学 号： 10803015 指导教师： 徐新生教授 完成日期： 2016年4月 大连理工大学 Dalian University of Technology 万方数据
博士学位论文 一种超磁机器鱼的设计和游动控制的数值模拟 A Design of the Bionic Robot Fish Actuated by the Giant Magnetostrictive Material and Numerical Simulation of Its Swimming Control 学 10803015 大连理工大学 Dalian University of Technology 万方数据
Y3044492 大连理工大学学位论文独创性声明 作者郑重声明：所呈交的学位论文，是本人在导师的指导下进行研究 工作所取得的成果。尽我所知，除文中已经注明引用内容和致谢的地方外， 本论文不包含其他个人或集体已经发表的研究成果，也不包含其他已申请 学位或其他用途使用过的成果。与我一同工作的同志对本研究所做的贡献 均已在论文中做了明确的说明并表示了谢意。 若有不实之处，本人愿意承担相关法律责任。 学位论文题目：一种超磁机器鱼的设计和游动控制的数值模拟 作者签名：月俊林 日期：26年6月6日 万方数据
J|Illl I IIIII IIll III rlllJ IIIII IJIIIll IllI Y3044492 大连理工大学学位论文独创性声明 作者郑重声明：所呈交的学位论文，是本人在导师的指导下进行研究 工作所取得的成果。尽我所知，除文中已经注明引用内容和致谢的地方外， 本论文不包含其他个人或集体已经发表的研究成果，也不包含其他已申请 学位或其他用途使用过的成果。与我一同工作的同志对本研究所做的贡献 均已在论文中做了明确的说明并表示了谢意。 若有不实之处，本人愿意承担相关法律责任。 学位论文题目：二弛超磁狃墨鱼的遮盐塑迸动控剑数麴鱼撞塑 作者签名： 查盆丝垒茎起 日期： 丝丝年—互月—￡日 万方数据
大连理工大学博士学位论文 摘 要 随着科学技术的发展，越来越多的机器人进入工业，农业，军事，医疗和生活等领 域中。各种各样的机器人迅速发展，仿生机器鱼就是其典型之一。仿生机器鱼的小型化 和微型化是一种发展趋势，因此对其动力系统和控制系统提出更高的要求。超磁机器鱼 可以不携带动力系统，并可通过外磁场变化实现控制机器鱼的游动。可见，超磁机器鱼 具有很好的发展前景。因此研究仿生超磁机器鱼设计和控制具有重要的科学意义和工程 应用价值。 本文以合金板模拟鱼体骨架，以超磁材料模拟鱼类肌肉，以外磁场主动变化模拟鱼 类的神经控制，建立了一种超磁材料仿生机器鱼模型。借助于外磁场的调节实现控制机 器鱼的游动，并采用数值模拟的方法对问题展开研究。主要研究成果包括：考虑了液体 粘性，由于流体引起的附加惯性质量和鱼尾尾涡产生的推力等因素，建立问题的基本控 制方程以及初边值条件，从而形成封闭的基本问题。在这种超磁材料仿生机器鱼模型的 基础上，通过对控制方程的分析和求解，得到一种解析求解方法，半解析方法和数值计 算方法。根据真实鱼类神经系统对肌肉纤维控制的肌肉肌电图实验数据和信号，给出几 种典型的仿真真实鱼类肌肉收缩规律的外磁场函数用于仿真控制超磁机器鱼。数值模拟 结果发现，这种形式的外磁场可提高机器鱼的游动速度和稳定性，同时也说明真实鱼类 神经系统控制肌肉收缩方式的合理性。此结论为机器鱼的仿生学设计提供了依据。在此 基础上，论文提出一种外磁场变频率控制机器鱼起动和巡游的设想。在机器鱼起动阶段 和巡游阶段采用不同外磁场频率和强度的控制，包括在机器鱼起动中外磁场频率随时间 变化，从而使得机器鱼起动的速度大幅度提高。研究结果表明，这种方法是可行的和有 效的，再次验证了鱼类肌电图形式函数的肌肉收缩规律是合理的。在上述成果的基础上， 采用参数优化方法对机器鱼体骨架和肌肉分布进行了优化，得到一种快速起动和游动方 式的骨架和肌肉厚度分布曲线，即合金板厚度分布和超磁材料厚度分布规律以及外磁场 控制频率。该厚度分布曲线与自然界以用鱼体和尾鳍摆动的方式游动的鱼类的身体特征 相吻合，从而揭示了自然界鱼类的身体特征的机理。本文的研究成果不仅为其它机器鱼 的设计提供了可靠依据，而且为机器鱼的游动控制提供了一种新的途径。 关键词：超磁致伸缩材料；仿生机器鱼；磁场控制；变频率；参数优化 -I- 万方数据
大连理工大学博士学位论文 摘 要 随着科学技术的发展，越来越多的机器人进入工业，农业，军事，医疗和生活等领 域中。各种各样的机器人迅速发展，仿生机器鱼就是其典型之一。仿生机器鱼的小型化 和微型化是一种发展趋势，因此对其动力系统和控制系统提出更高的要求。超磁机器鱼 可以不携带动力系统，并可通过外磁场变化实现控制机器鱼的游动。可见，超磁机器鱼 具有很好的发展前景。因此研究仿生超磁机器鱼设计和控制具有重要的科学意义和工程 应用价值。 本文以合金板模拟鱼体骨架，以超磁材料模拟鱼类肌肉，以外磁场主动变化模拟鱼 类的神经控制，建立了一种超磁材料仿生机器鱼模型。借助于外磁场的调节实现控制机 器鱼的游动，并采用数值模拟的方法对问题展开研究。主要研究成果包括：考虑了液体 粘性，由于流体引起的附加惯性质量和鱼尾尾涡产生的推力等因素，建立问题的基本控 制方程以及初边值条件，从而形成封闭的基本问题。在这种超磁材料仿生机器鱼模型的 基础上，通过对控制方程的分析和求解，得到一种解析求解方法，半解析方法和数值计 算方法。根据真实鱼类神经系统对肌肉纤维控制的肌肉肌电图实验数据和信号，给出几 种典型的仿真真实鱼类肌肉收缩规律的外磁场函数用于仿真控制超磁机器鱼。数值模拟 结果发现，这种形式的外磁场可提高机器鱼的游动速度和稳定性，同时也说明真实鱼类 神经系统控制肌肉收缩方式的合理性。此结论为机器鱼的仿生学设计提供了依据。在此 基础上，论文提出一种外磁场变频率控制机器鱼起动和巡游的设想。在机器鱼起动阶段 和巡游阶段采用不同外磁场频率和强度的控制，包括在机器鱼起动中外磁场频率随时间 变化，从而使得机器鱼起动的速度大幅度提高。研究结果表明，这种方法是可行的和有 效的，再次验证了鱼类肌电图形式函数的肌肉收缩规律是合理的。在上述成果的基础上， 采用参数优化方法对机器鱼体骨架和肌肉分布进行了优化，得到一种快速起动和游动方 式的骨架和肌肉厚度分布曲线，即合金板厚度分布和超磁材料厚度分布规律以及外磁场 控制频率。该厚度分布曲线与自然界以用鱼体和尾鳍摆动的方式游动的鱼类的身体特征 相吻合，从而揭示了自然界鱼类的身体特征的机理。本文的研究成果不仅为其它机器鱼 的设计提供了可靠依据，而且为机器鱼的游动控制提供了一种新的途径。 关键词：超磁致伸缩材料；仿生机器鱼；磁场控制；变频率；参数优化 万方数据
超磁仿生机器鱼力学机理及数值模拟 A Design of the Bionic Robot Fish Actuated by the Giant Magnetostrictive Material and Numerical Simulation of Its Swimming Control Abstract With the development of science and technology,more and more robots are used into industry,agriculture,military,medicine and domestic life.Various robots develop rapidly where bionic robot fish is one of their types.The miniaturization of the bionic robot fish is a kind of development trend,therefore,the power system and control system of the robot have faced higher demands.The design of fish-like micro robots with the giant magnetostrictive material,without carrying the power system,can realize the control of the robot fish swimming through the change of the external magnetic field only.Thus,fish-like micro robots of giant magnetostrictive material have a good development prospect.So it is of great scientific significance and engineering application value to study the design and control of the bionic giant magnetostrictive fishes. The alloy sheet is simulated as the framework of the fishtail of fish-like robot,the giant magnetostrictive material,which is attached the sheet,as the muscle of the fish and the external magnetic field as the nerve to control the swing of the fishtail in this paper.Thus a biomimetic robotic fish model with the giant magnetostrictive material is presented.The robot fish swimming can be controlled aid the adjustment of the external magnetic field,meanwhile and the problem is studied by the use of numerical simulation method.Main research results include:fundamental control equations and initial and boundary conditions are established thus forming a closed fundamental problem,in which the viscous of liquid is considered,the added inertia mass caused by fluid is analysed and the vortex counterforce caused by fin swing is discussed.Based on the model of biomimetic robot fish,an analytical solution method,a semi analytical method and a numerical calculation method are obtained by analyzing and solving the governing equations.According to the nervous system of real fishes to control muscle fiber from data and signal of electromyogram in experiments,Several typical functions of the external magnetic field are given by simulation of muscle contraction of real fishes for controlling the robotic fish.The numerical simulation results show that this form of external magnetic field can improve the swimming speed and stability of the robot fish,and the rationality is shown also for the real fish nervous system controlling muscle contraction.This conclusion provides a basis for bionic design of robot fish.On the basis of the above,the paper presents an idea of variable frequency of the extemal magnetic field to II 万方数据
超磁仿生机器鱼力学机理及数值模拟 ADesign of the Bionic Robot Fish Actuated by the Giant Magnetostrictive Material and Numerical Simulation of Its Swimming Control Abstract With the development of science and technology，more and more robots are used Into industry，agriculture，military，medicine and domestic life．Various robots develop rapidly where bionic robot fish is one of their types．The miniaturization of the bionic robot fish is a kind of development trend，therefore，the power system and control system of the robot have faced higher demands．The design of fish-like micro robots with the giant magnetostrictive material，without carrying the power system，can realize the control of the robot fish swimming through the change of the extemal magnetic field only．Thus，fish—like micro robots of giant magnetostrictive material have a good development prospect．So it is of great scientific significance and engineering application value to study the design and control of the bionic giant magnetostrictive fishes． The alloy sheet is simulated as the framework of the fishtail of fish—like robot，the giant magnetostrictive material，which is attached the sheet，as the muscle of the fish and the external magnetic field as the nerve to control the swing of the fishtail in this paper．Thus a biomimetic robotic fish model with the giant magnetostrictive material is presented．The robot fish swimming can be controlled aid the adjustment of the external magnetic field，meanwhile， and the problem is studied by the use of numerical simulation method．Main research results include：fundamental control equations and initial and boundary conditions ale established thus forming a closed fundamental problem，in which the viscous of liquid is considered，the added inertia mass caused by fluid is analysed and the vortex counterforce caused by fin swing is discussed．Based on the model of biomimetic robot fish，an analytical solution method，a semi analytical method and a numerical calculation method are obtained by analyzing and solving the governing equations．According to the nervous system of real fishes to control muscle fiber from data and signal of electromyogram in experiments，Several typical functions of the external magnetic field are given by simulation of muscle contraction of real fishes for controlling the robotic fish．The numerical simulation results show that this form of extemal magnetic field can improve the swimming speed and stability of the robot fish，and the rationality is shown also for the real fish nervous system controlling muscle contraction．This conclusion provides a basis for bionic design of robot fish．On the basis of the above，the paper presents all idea of variable frequency of the external magnetic field to II— 万方数据
大连理工大学博士学位论文 control starting and cruising of the fish.In robotic fish starting and cruising stages,the different intensity and frequency of the external magnetic field are controlled,starting and cruising velocities are improved greatly including the frequency of the external magnetic field varies with time in the robotic fish starting stage.The results show that this method is feasible and effective,and it is proved that the electromyogram rule of muscle contraction pattern is reasonable.Based on of the results,the method of parameter optimization is applied to optimize distributions of skeleton and muscle of the robotic fish body and distributional curves of the thicknesses of skeleton and muscle are obtained for quick starting and the swimming modes,which the thickness of alloy sheet,the thickness of giant magnetostrictive material and the frequency of exteral magnetic field are determined for controlling optimal swimming of the robotic fish.The curves of thickness distribution are agreement with nature fish body and swing mode of caudal fin for fish swimming,so as to reveal the mechanism of the physical characteristics of the fish in nature.The research results of this paper not only present a reliable basis for the design of others robot fishes,but also provide a new way for swimming control of robot fish. Key Words:giant magnetostrictive material;bionic robot fish;control of magnetic field; variable frequency;parameter optimization. -III 万方数据
大连理工大学博士学位论文 control starting and cruising of the fish．In robotic fish starting and cruising stages，the different intensity and frequency of the external magnetic field are controlled，starting and cruising velocities are improved greatly including the frequency of the external magnetic field varies with time in the robotic fish starting stage．The results show that this method is feasible and effective，and it is proved that the electromyogram rule of muscle contraction pattern is reasonable．Based on of the results，the method of parameter optimization is applied to optimize distributions of skeleton and muscle of the robotic fish body and distributional curves of the thicknesses of skeleton and muscle are obtained for quick starting and the swimming modes，which the thickness of alloy sheet，the thickness of giant magnetostrictive material and the frequency of external magnetic field are determined for controlling optimal swimming of the robotic fish．The curves of thickness distribution are agreement with nature fish body and swing mode of caudal fin for fish swimming，SO as to reveal the mechanism of the physical characteristics of the fish in nature．The research results of this paper not only present a reliable basis for the design of others robot fishes，but also provide a new way for swimming control of robot fish． Key Words：giant magnetostrictive material；bionic robot fish；control of magnetic field； variable frequency；parameter optimization． 一III 万方数据