Control of Balloon Fish Robot Based on Traveling Wave Equation

Abstract

A fish has excellent swimming ability in underwater. An airship robot capable of performing a low-speed, low-altitude flying low energy has been researched. Aquatic organism type airship robot "swimming in the air" combines these features have been researched and developed. BFR (Balloon Fish Robot) is one of this type robots. This paper is concerned with the simulation motion of BFR and parameter optimization for the propulsion efficiency of the aquatic organism type airship robot propelled by Traveling Wave. The controlling expression of BFR is written by Traveling-Wave Equation. And the equation of motion is defined through the controlling expression and drag force. The comparative experiments on forward air speed of the BFR of simulation and experiment evaluated the validity. The highest propulsion efficiency parameter is investigated by calculating using the experimental air speed and the maximum amplitude of the tail fin and Traveling-Wave frequency.