仿生机器鱼尾鳍拍动的控制算法

两关节尾鳍拍动控制是一个在高速、大载荷下的运动控制问题,它要求同时保证速度和位置波形失真都比较小.论证了尾鳍拍动推进方式与鱼体波动推进方式的一致性,根据尾鳍拍动的运动规律导出了用于拍动控制的数学模型.基于SPC-III机器鱼硬件平台,在主臂控制上,提出了根据摆角位置解算转速,并结合时间与摆角位置关系进行速度补偿的算法;在小臂控制上,提出了根据两关节摆角位置的关系及程序循环周期解算小臂目标位置的跟随算法.对高频拍动的实现进行了探讨.在试验中对尾鳍拍动的跟随性进行了验证.

Control of tail fin flaping of robofish

Flipping control of the tail fin with two degrees is a problem of motion control in the condition of high speed and heavy load.It demands that there be little distortion of transformation of speed and position synchronously. The sameness between propulsion by tail fin flipping and that by undulation of fish body was verified, and a math model used for flipping control was deduced according to the rule of tail fin flipping. Based on the SPC-III robot fish, in terms of the control of the main joint, the algorithm, which computes the rotational speed according to its angle position and adds compensative speed via combining the relation of its position and the time variable, was put forward. In terms of the control of the assistant joint, the following algorithm, which computes the assistant joint′s target position according to the relation of the two joints′ position and the cycle period of the program, was put forward. The achievement of high-frequency flipping was discussed. During the experimentation, the following performance of tail fin flipping was validated.