Research on Multi-mode Swimming Control Modeling of Bionic Underwater Propeller with Double-Tail Fins

摘要

A novel type of bionic underwater hybrid propeller is proposed, which combines the undulation propulsion and jet propulsion by the use of the double tail fins cooperative driving, and is capable of achieving a serial of motions: cruise, acceleration, turning and braking. Targeting at approximate smooth tail contours by using rigid tail linkage, a bionic propeller control modeling method is discussed based on digital approximation method, and the control model is established to achieve the undulation propulsion and jet propulsion.