为了研究柔性仿生机器鱼的设计参数 (鱼体刚度、鱼体摆动频率、鱼体摆动幅值) 对巡游速度的影响规律，并据此得出仿生机器鱼在达到较优巡游速度时的参数组合，文中首先根据耦合欧拉 － 拉格朗日 (简称 CEL) 法的基本原理建立了柔性仿生机器鱼自主游动的流固耦合模型，然后通过正交试验得到不同组合的设计参数，并通过数值仿真模拟在不同参数组合下仿生机器鱼的巡游表现，最后根据仿真数据统计出各项设计参数对仿生机器鱼巡游速度的影响，并据此得到较优的参数组合。结果表明: CEL 法能够考虑柔性仿生机器鱼在游动过程中的柔性变形，因而能够更加真实地反映实际情况中柔性仿生机器鱼的游动行为; 在样本范围内，柔性仿生机器鱼模型的巡游速度随着鱼体刚度和鱼体摆动幅值的增加而呈现先增后减的趋势，随着鱼体摆动频率的增加呈现增加的趋势; 在鱼体刚度 (弹性模量) 为 30MPa、鱼体摆动幅值为 0. 13 倍体长、鱼体摆动频率为 5. 16Hz 时，柔性仿生机器鱼的巡游速度达到较高的水平。

A fluid-structure coupling model for autonomous swimming of the flexible biomimetic robotic fish was es-tablished based on the principle of coupled Eulerian Lagrangian (CEL) method，aiming to investigate the influence of the design parameters (fish stiffness，fish swing frequency and fish swing amplitude) of the flexible biomimetic robotic fish on its cruising speed，and to obtain the parameter combination of the bionic robot fish when it reaches the optimal cruise speed． The design parameters of different combinations were obtained by orthogonal test，and the cruise performance of flexible biomimetic robotic fish under different parameter combinations was simulated by nu-merical simulation． The influence of various design parameters on the cruise speed of flexible biomimetic robotic fish was calculated according to the simulation data，and accordingly the better parameter combination was ob-tained． The results show that the CEL method can consider the flexible deformation of flexible biomimetic robotic fish during swimming，so it can more truly reflect the swimming behavior of flexible biomimetic robotic fish in actual situation． In the sample range，the cruise speed of flexible biomimetic robotic fish model increases first and then
decreases with the increase of fish body stiffness and fish body swing amplitude，and it increases with fish body swing frequency． When fish body stiffness (elastic modulus) is 30 MPa，fish body swing amplitude is 0. 13 times longer of fish body and fish body swing frequency is 5. 16 Hz，the cruise speed of flexible biomimetic robotic fish reaches a high level．