哈尔滨工程大学硕十学位论文 Abstract The underwater vehicle plays an important role in ocean development.The propulsion technology is one of the main contents of the research on underwater vehicle.The hydrofoil propulsion is a exploratory research of the new type of propulsion for micro miniature underwater vehicle.To study the theory of the hydrofoil propulsion,discuss the bionic hydrofoil manipulation,analysis the hydrodynamic performance and developed the hydrofoil propulsion test prototype, have great significance on the exploration of new type of driving method for medium and low speed micro miniature underwater vehicle,and the improvement of its propulsion efficiency and maneuvering performance. This thesis conducted the theoretical analysis and experimental research on the control technology of the hydrofoil propulsion,the theory of hydrofoil cooperation motion and the hydrodynamic performance.The main research work is as follows: Firstly,the hardware and software control system with the DSP as the core processor of the hydrofoil propulsion prototype has been developed.According to the multiple motion unit cooperation control features of"HaiRen-I",a hierarchical control method based on the host controller and the sub controller for the motion units are designed.The hardware and software control system with the DSP as the core processor has been developed.A sensor test platform for the prototype was 以 established.And the man-machine control interface was developed. Secondly,the motion principle of"HaiRen-I"prototype has been studied including four-wing collaborative movement,the hydrofoil cooperative motion, the webs cooperative motion and the stroke and azimuth cooperative motion. According to the accumulation of phase error between the right and left hydrofoil●- h ～ 哈尔滨T程大学硕+学位论文 Abstract The underwater vehicle plays an important role in ocean development．The propulsion technology is one of the main contents of the research on underwater vehicle．The hydrofoil propulsion is a exploratory research of the new type of propulsion for micro miniature underwater vehicle．To study the theory of the hydrofoil propulsion，discuss the bionic hydrofoil manipulation，analysis the hydrodynamic performance and developed the hydrofoil propulsion test prototype， have great significance on the exploration of new type of driving method for medium and low speed micro miniature underwater vehicle，and the improvement of its propulsion efficiency and maneuvering performance． This thesis conducted the theoretical analysis and experimental research on the control technology of the hydrofoil propulsion，the theory of hydrofoil cooperation motion and the hydrodynamic performance．The main research work is as follows： Firstly，the hardware and software control system with the DSP as the core processor of the hydrofoil propulsion prototype has been developed．According to the multiple motion unit cooperation control features of“HaiRen—I”，a hierarchical control method based on the host controller and the sub controller for the motion units are designed．The hardware and software control system with the DSP as the core processor has been developed．A sensor test platform for the prototype was 儿 established．And the man—machine control interface Was developed． Secondly，the motion principle of‘'HaiRen—I’’prototype has been studied including four-wing collaborative movement，the hydrofoil cooperative motion， the webs cooperative motion and the stroke and azimuth cooperative motion． According to the accumulation of phase error between the fight and left hydrofoil