Method and system for determining energy consumption of fin-propelled robotic fish
A determination method and technology of robotic fish, which are applied in computer-aided design, design optimization/simulation, calculation, etc., can solve the problems of time-consuming precision, complicated operation and low level, and achieve the effect of high precision and simple and fast calculation.
Active Publication Date: 2020-10-09
CHENGDU UNIV OF INFORMATION TECH
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Problems solved by technology
[0002] At present, in the prior art, there are usually two ways to study the energy consumption of robotic fish movement. One is to use the formula E=UIt to calculate, but there is no movement parameters related to the caudal fin (such as the swing angle of the tail fin, the swing amplitude and the swing value). frequency), which leads to a measurement of energy consumption every time the motion parameters of the tail fin of the robotic fish are changed, which is time-consuming and has low accuracy
Another way is to determine the relationship between tail fin swing angle, swing amplitude and swing frequency and energy consumption through experiments, but there are differences among robotic fish, such as the quality and size of robotic fish, so this method establishes The energy consumption model still needs to be calibrated, and the operation is cumbersome
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[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0045] The purpose of the present invention is to provide a method and system for determining the energy consumption of the fin-propelled robotic fish, which can correlate the energy consumption of the caudal fin of the robotic fish with the motion parameters of the caudal fin, and is time-consuming, high-precision, and easy to operate.
[0046] In order to make the above objects, features and advantages of the present invention more comprehensible, the present...
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The invention discloses a method and a system for determining energy consumption of a fin-propelled robotic fish. The method includes: obtaining the swing angle, swing amplitude and swing frequency of the robotic fish caudal fin; determining the energy consumption model of the robotic fish; The energy consumption model is used to calculate the energy consumption of the robotic fish. The method and system for determining the motion energy consumption of the fin-propelled robotic fish provided by the present invention provides a calculation model of the motion energy consumption of the mechanical fish, which is related to the swing angle, swing amplitude and swing frequency of the tail fin of the robotic fish. Correlatively, according to the motion energy consumption model and the swing angle, swing amplitude and swing frequency of the tail fin of the robot fish, the motion energy consumption of the robot fish can be calculated, which has the characteristics of simple, quick and high precision calculation.
Description
technical field [0001] The invention relates to the field of robotic fish, in particular to a method and system for determining energy consumption of a fin-propelled robotic fish. Background technique [0002] At present, in the prior art, there are usually two ways to study the energy consumption of robotic fish movement. One is to use the formula E=UIt to calculate, but there is no movement parameters related to the caudal fin (such as the swing angle of the tail fin, the swing amplitude and the swing value). frequency), which leads to a measurement of energy consumption every time the motion parameters of the caudal fin of the robotic fish are changed, which is time-consuming and has low accuracy. Another way is to determine the relationship between tail fin swing angle, swing amplitude and swing frequency and energy consumption through experiments, but there are differences among robotic fish, such as the quality and size of robotic fish, so this method establishes The ...
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IPC IPC(8): G06F30/20G06F119/06
CPCG06F30/20
Inventor沈艳许启新章洁张榕
OwnerCHENGDU UNIV OF INFORMATION TECH