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胸鳍摆动推进模式机器鱼深度控制

马宏伟 毕树生 蔡月日 牛传猛

马宏伟, 毕树生, 蔡月日, 等 . 胸鳍摆动推进模式机器鱼深度控制[J]. 北京航空航天大学学报, 2015, 41(5): 885-890. doi: 10.13700/j.bh.1001-5965.2014.0331
引用本文: 马宏伟, 毕树生, 蔡月日, 等 . 胸鳍摆动推进模式机器鱼深度控制[J]. 北京航空航天大学学报, 2015, 41(5): 885-890. doi: 10.13700/j.bh.1001-5965.2014.0331
MA Hongwei, BI Shusheng, CAI Yueri, et al. Depth control of robotic fish propelled by oscillating paired pectoral fins[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(5): 885-890. doi: 10.13700/j.bh.1001-5965.2014.0331(in Chinese)
Citation: MA Hongwei, BI Shusheng, CAI Yueri, et al. Depth control of robotic fish propelled by oscillating paired pectoral fins[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(5): 885-890. doi: 10.13700/j.bh.1001-5965.2014.0331(in Chinese)

胸鳍摆动推进模式机器鱼深度控制

doi: 10.13700/j.bh.1001-5965.2014.0331
基金项目: 国家自然科学基金(51205011);中国博士后科学基金(2013T60049)
详细信息
    作者简介:

    马宏伟(1987—),男,吉林安图人,博士研究生,mahongwei1987@yeah.net

    通讯作者:

    蔡月日(1983—),男,河北承德人,讲师,caiyueri2008@126.com,主要研究方向为仿生机构、仿生鱼、柔性机构.

  • 中图分类号: TP24

Depth control of robotic fish propelled by oscillating paired pectoral fins

  • 摘要: 提出一种基于专家PID和模糊控制的双闭环深度控制方法,用于实现胸鳍摆动推进模式机器鱼的定深控制.通过控制机器鱼的尾舵摆动角度,可以使机器鱼产生一定的俯仰力矩,从而改变机器鱼的俯仰姿态,实现上浮或下潜运动.给出了机器鱼的相关定深实验,并分析了不同目标深度下俯仰角度初始变化范围存在差异的原因.实验结果表明:本文提出的定深控制方法能够使机器鱼比较准确地稳定在目标深度,以及能够改善机器鱼到达目标深度后稳态游动时的俯仰稳定性,能够较好地实现机器鱼的深度控制.

     

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出版历程
  • 收稿日期:  2014-06-06
  • 修回日期:  2014-07-25
  • 刊出日期:  2015-05-20

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