In the nature, the fish can control the wave propagation on the caudal fin using the sarcomere at the leading edge of the caudal fin. The control methods can be classified into three modes: Active Heave and Active Pitch (AHAP),Passive Heave and Active Pitch (PHAP), Active Heave and Passive Pitch (AHPP). Which mode can produce the largest thrust? Which mode can develop the most efficient swimming performance? So far, the research on these issues still cannot be found in the article. In this paper, we have studied the self-propulsion of the flexible plates driven by these three modes. It is expected that results can shed new light on understanding the locomotion mechanism of the fish and give a new idea for the design and control of the robot fish. The vibration of the flexible plate in the high velocity flow maybe unstable, and the velocity threshold of the flow are depending on the stiffness of the plate. The motion of the plate driven by AHAP is the most unstable, while AHPP is the most stable driving mode. The thrust on the flexible plate is mainly affected by the resonance effect, and the thrust in AHAP mode and AHPP mode are larger than that in PHAP mode. The propulsive efficiency is affected by both the resonance effect and the phase dynamics in the oscillator model. The phase dynamics is the dominant factor, and the resonance effect is the secondary factor.

在自然界中，鱼可以使用尾鳍前缘的肌节来控制波浪在尾鳍上的传播。控制方法可分为三种模式：主动升沉和主动俯仰（AHAP），被动升沉和主动俯仰（PHAP），主动升沉和被动俯仰（AHPP）。哪种模式可以产生最大推力？哪种模式可以开发出最有效的游泳成绩？到目前为止，仍无法在本文中找到对这些问题的研究。在本文中，我们研究了这三种模式驱动的柔性板的自推进。预期结果可以为了解鱼的运动机理提供新的思路，并为机器人鱼的设计和控制提供新的思路。柔性板在高速流动中的振动可能不稳定，流动的速度阈值取决于板的刚度。AHAP驱动的印版运动最不稳定，而AHPP是最稳定的驱动方式。柔性板上的推力主要受共振效应的影响，AHAP模式和AHPP模式下的推力大于PHAP模式下的推力。在振荡器模型中，推进效率受共振效应和相位动力学的影响。相位动力学是主要因素，共振效应是次要因素。AHAP模式和AHPP模式下的推力大于PHAP模式下的推力。在振荡器模型中，推进效率受共振效应和相位动力学的影响。相位动力学是主要因素，共振效应是次要因素。AHAP模式和AHPP模式下的推力大于PHAP模式下的推力。在振荡器模型中，推进效率受共振效应和相位动力学的影响。相位动力学是主要因素，共振效应是次要因素。