Research On Fish-liked Propulsion Technology And SPC-Ⅱ Propulsion System Design

In recent years, fish and ocean mammal have drawn people's attention for their excellent propulsion and maneuvering performance. This paper is based on the basic research project 'Micro Unmanned Underwater Vehicle Bionic Propulsion Technology' among the '8.6.3' Project of the department of defense. The paper discusses the research significance and domestic and overseas present development of biomimetic fish-liked propulsion technology, and discusses the whole project of SPC-II robofish system and the project of the biomimetic fish-liked propulsion system. It also does some primary research on fish's flapping propulsion theory, and designs the control system and the control program of the SPOII propulsion system.The paper analyzes the characteristic of the drive motors and the motor drivers, and the control system hardware platform based on AVR 8-bit microcontroller has been designed, including the A/D converting circuit, D/A converting circuit and communication interfacing circuit and the power control system. The complete test of the SPC-II propulsion control system has been performed.The paper does complete kinematics analysis on the SPC-II propulsion mechanism, and the work principle and control procedure of the control system has been discussed. The basic control software has been developed according to the control strategy and the hardware circuit in C language.The experiment of the SPC-II propulsion system has been done. Inorder to test the characteristics of the SPC-II propulsion system, some experiments are carried out, such as the high-speed testing experiment, the maneuverability testing experiment and the long distance GPS guiding experiment. All these experiments test and prove the advantage of the fish flapping propulsion in SPC-II compared with the traditional UUV. This paper will have great practical engineering meaning for further development of UUV technology.