北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (11): 2184-2190.doi: 10.13700/j.bh.1001-5965.2014.0748

• 论文 • 上一篇    

胸鳍摆动推进机器鱼滚转机动控制

宫昭, 蔡月日, 毕树生, 马宏伟   

  1. 北京航空航天大学机械工程及自动化学院, 北京 100191
  • 收稿日期:2014-12-01 修回日期:2015-03-06 出版日期:2015-11-20 发布日期:2015-12-01
  • 通讯作者: 蔡月日(1983-),男,河北承德人,讲师,caiyueri@me.buaa.edu.cn,主要研究方向为仿生机构、仿生鱼、柔性机构. E-mail:aiyueri@me.buaa.edu.cn
  • 作者简介:宫昭(1990-),男,山东济南人,硕士研究生,gongzhao@126.com
  • 基金资助:
    国家自然科学基金(51205011);北京航空航天大学基本科研业务费专项资金(YWF-14-RSC-107)

Roll maneuver control of robotic fish propelled by oscillating pectoral fins

GONG Zhao, CAI Yueri, BI Shusheng, MA Hongwei   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2014-12-01 Revised:2015-03-06 Online:2015-11-20 Published:2015-12-01

摘要: 针对胸鳍摆动推进机器鱼滚转机动控制研究的实际需求,提出了一种基于中枢模式发生器(CPG)的模糊控制方法.通过模仿生物原型的胸鳍摆动规律,得到一种可以驱动机器鱼滚转运动的胸鳍摆动方式,并通过定义相关参数将其量化表达.基于胸鳍摆动CPG模型,建立模糊控制器,用于机器鱼的滚转机动控制.进行了机器鱼的滚转运动实验并对实验结果进行了详细分析.实验结果表明,机器鱼能以最快10(°)/s的角速度达到目标滚转角度,而且稳态误差不超过±5°.通过滚转机动控制,并配合航向控制,实现了胸鳍摆动推进的机器鱼以90°滚转角穿越宽度为翼展1/2的狭窄空间的高机动性运动.

关键词: 仿生机器鱼, 摆动推进, 中枢模式发生器(CPG)控制, 模糊控制, 滚转机动

Abstract: Based on the practical requirements on the research of the roll maneuver control of robotic fish propelled by oscillating pectoral fins, a central pattern generator (CPG) based fuzzy control method was presented. Pectoral fins oscillating disciplines which drive the robotic fish roll were obtained by mimicking the pectoral fins oscillating pattern of natural prototype, and relative parameters were defined to quantitatively describe the disciplines. Based on the CPG model, a fuzzy method controller was built to achieve the roll motion control of robotic fish. Experiments were presented and the related results were analyzed in detail. Results show that the robotic fish rolls quickly to reach the target angle at the maximum angular velocity of 10(°)/s, and the steady state error is less than ±5°. Finally, with the combination of the roll maneuver control and the yaw control, the robotic fish can swim through a narrow space with the width of 1/2 wingspan,which shows the high maneuvering ability of the robotic fish propelled by oscillating pectoral fins.

Key words: bionic robotic fish, oscillating propulsion, central pattern generator (CPG) control, fuzzy control, roll maneuver

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