机器鱼系统设计及其尾鳍运动能耗建模研究

发布时间：2018-02-27 13:52

本文关键词： 机器鱼 ARM Linux 尾鳍能耗建模　出处：《成都信息工程大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着水污染问题的不断恶化,水产品和人类的水源不断受到影响,这对人类的生存发展产生了很大的阻碍,因此有效地检测污染源对水资源的保护有着深刻的意义。然而传统的水质检测装置存在监测不灵活和机动性差等缺点,结合鱼类的诸多优势,对鱼类进行仿生研制仿生机器鱼,能够有效地解决以上问题。另外,机器鱼通常运行于野外水环境中,并且自身携带的电池电量又十分有限,这极大地限制了仿生机器鱼的应用。通过研究机器鱼尾鳍的运动能耗,延长机器鱼在复杂环境中的工作时间,从而可以提高机器鱼的实用性。本论文依托国家自然科学基金项目——机器鱼传感网络的低能耗协作调度关键技术研究(项目编号:61472050),以湽科鱼类为模仿对象,设计与实现一种尾鳍摆动式机器鱼,并建立其尾鳍运动能耗模型。主要内容如下:(1)基于微处理器S3C2440A和嵌入式Linux操作系统,设计与实现机器鱼。该机器鱼采用单关节尾鳍驱动自身直游和转弯,并通过自身所携带的温度传感器、GPS、浊度传感器、远红外传感器以及姿态传感器等采集内外部信息,通过ZigBee无线通信模块实现机器鱼与上位机之间的通信。文中将机器鱼系统设计分为硬件电路设计和软件设计两个部分。硬件电路部分包括机器鱼硬件电路的设计与调试。软件设计包括嵌入式Linux操作系统的应用程序与驱动程序设计。最后,在软硬件测试通过之后,对机器鱼进行组装、配重和防水等处理,完成机器鱼的调试工作,并建立机器鱼的实验平台,完成机器鱼的基本性能实验。(2)机器鱼尾鳍运动能耗是总能耗的重要组成部分,为了延长机器鱼的工作时间,本论文针对机器鱼尾鳍运动能耗进行研究。由于机器鱼尾鳍通过模仿湽科鱼类的尾鳍游动规律进行摆动,该游动规律与尾鳍摆动幅度、摆动偏角以及摆动频率三个参数有关,因此尾鳍运动能耗也受到该三个参数的影响。通过设计能耗测量电路,测得机器鱼尾鳍在不同摆动参数下的电流和电压,经数据处理获得尾鳍的能耗数据;建立机器鱼尾鳍运动能耗模型,并通过实验验证该模型。
[Abstract]:With the deteriorating water pollution, aquatic products and human sources continue to suffer, hinder the for human survival and development, so the effective detection and protection of pollution source on water resources is of great significance. However the water quality detection device has the disadvantages of traditional monitoring is not flexible and poor flexibility, many combined with the advantages of fish, the fish were developed bionic robot fish, can effectively solve the above problems. In addition, the robotic fish are usually run on the field of water environment, and their own battery power is very limited, which greatly limits the application of bionic robot fish. Through the movement of energy consumption of tail fin, extension the robotic fish in the complex environment of working time, which can improve the practicability of the robotic fish. This thesis is supported by the National Natural Science Fund Project of fish robot sensor network low Research on Key Technologies of energy cooperation scheduling (project number: 61472050), to have family fish as the object of imitation, and implementation of an oscillating caudal fin fish machine design, and the establishment of the caudal fin motion energy model. The main contents are as follows: (1) S3C2440A microprocessor and embedded Linux operating system based on the design and implementation of robotic fish. The machine fish with single joint caudal drive straight and turning, and the temperature sensor carried by self GPS, turbidity sensor, infrared sensor, attitude sensor to collect the external information, realize the communication between the robot fish through the ZigBee wireless communication module and the host computer. In the design of robot fish system this paper is divided into two parts the hardware circuit design and software design. The hardware part includes the design and debugging of hardware circuit of the robot fish. The software design includes the application of embedded Linux operating system and drive Dynamic programming. Finally, after the soft hardware test, the robot fish assembly, weight and waterproof processing, complete fish machine debugging work, and the establishment of experimental platform of robot fish, basic performance experiment of robot fish. (2) tail fin motion energy consumption is an important part of the total energy consumption. In order to prolong the working time of the robotic fish, the tail fin motion energy research. Due to tail fin swing through the caudal fin swimming rules have to imitate the family of fish, the swimming rules and caudal swing, the swing angle and swing frequency of the three parameters, so the effect of energy consumption is also affected by the three caudal fin motion parameters. Through the design of energy consumption measurement circuit, current and voltage measured tail fin in different swing parameters, through data processing to obtain the energy consumption data of caudal fin; a tail fin. The kinetic energy consumption model is used to verify the model by experiment.

【学位授予单位】：成都信息工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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