基于水下仿生机器海豚的控制系统研究

发布时间：2018-06-04 22:44

本文选题：仿生 + 机器海豚　；参考：《深圳大学》2017年硕士论文

【摘要】：因为陆地资源的减少和日益突出的海洋安全问题,如何利用水下机器人安全、高效完成水下资源探测、安全巡查等任务成为当前热门研究方向。仿生型水下机器人具备噪音小、隐蔽性好、游进效率高等优点,具有更加广阔的研究前景。而在众多水下生物中,海豚在游动性能和减阻机制上具有更为优越的性能,更适合成为自动控制、机器人学等交叉学科研究的对象,所以各国研究者对仿生机器海豚的研究越来越多。本论文的研究对象是仿生机器海豚控制系统。根据设计要求,机器海豚需要自主完成直行、转弯、上浮下潜等基本动作以及高速迅游和跃水等任务。针对上述运动姿态和功能性需求,本文主要完成了水下自主控制系统的搭建,在不需要水面工作人员的介入以及能源供应的情况下自动切换运动模式和进行姿态识别等操作。具体研究工作如下:首先对海豚运动姿态进行了分析,同时结合机械设计部分将海豚运动机构模块化,同时介绍机器海豚动力装置和选型工作。针对模块化的机构特点设计以分布式控制系统为核心,结合CAN总线技术,利用DSP作为核心运动控制器,搭配无线通信模块和姿态传感器模块的仿生海豚控制系统。在制定了整体控制系统结构后,接下来就重点介绍了仿生机器海豚的软硬件设计。首先完成了控制系统各模块的硬件结构设计,包括运动控制模块、姿态模块、电压转换模块及无线通信模块的元器件选型,针对选定元器件完成电路原理图的绘制和PCB板设计及制作。软件部分则重点介绍了海豚运动姿态设计,针对前期海豚动作设计要求先完成了以DSP为核心控制器的运动控制功能模块的程序运行流程图规划和相应代码设计,同时对于多电机协同运动的特点引入CAN总线控制技术。为了更好地实现人机实时交互功能,本文也完成了基于无线数传技术的无线通信功能,同时利用LabVIEW编写的上位机界面。为了保证仿生海豚在水下的正常工作,针对其特殊的运动环境和严格的密封要求,本文完成了海豚腔体内部及控制系统PCB板的热分析和散热优化设计,同时对可能出现的冷凝水状况进行了分析和解决方案设计。最后,进行了海豚控制系统的硬件可行性测试、软件部分仿真和基于机械结构的软硬件联合调试,最终进行海豚水下测试。经过测试,仿生机器海豚控制系统能保证自主运动、多姿态转换和高速迅游,完成预定设计目标。
[Abstract]:Because of the decrease of land resources and the increasingly prominent marine safety problems, how to use underwater vehicle safety, how to efficiently complete underwater resource detection, safety inspection and other tasks has become a hot research direction. The bionic underwater vehicle has the advantages of low noise, good concealment, high swimming efficiency and so on. Among many underwater organisms, dolphins have more superior performance in swimming performance and drag reduction mechanism, and are more suitable for cross-disciplinary research, such as automatic control, robotics and so on. So researchers from all over the world are studying more and more bionic robotic dolphins. The object of this thesis is the bionic robot dolphin control system. According to the design requirements, the robot dolphin needs to complete the basic movements such as straight, turn, float and dive, as well as high speed fast swim and jump water tasks. In view of the above motion posture and functional requirements, this paper mainly completed the underwater autonomous control system, without the involvement of water surface workers and energy supply, automatically switch the motion mode and attitude recognition operations. The specific research work is as follows: firstly, the dolphin motion posture is analyzed, and the dolphin movement mechanism is modularized in combination with the mechanical design, and the machine dolphin power device and selection work are introduced at the same time. According to the characteristics of the modularized mechanism, the bionic dolphin control system is designed with distributed control system as the core, combined with CAN bus technology, using DSP as the core motion controller, and with wireless communication module and attitude sensor module. After the overall control system structure is established, the software and hardware design of the bionic robot dolphin is introduced. First of all, the hardware structure of each module of the control system is designed, including motion control module, attitude module, voltage conversion module and wireless communication module. The circuit schematic drawing and the design and manufacture of PCB board are completed for the selected components. The software part focuses on dolphin motion posture design. According to the previous dolphin motion design requirements, the program flow chart planning and corresponding code design of the motion control function module with DSP as the core controller are completed first. At the same time, CAN bus control technology is introduced to the characteristics of multi-motor cooperative motion. In order to realize the function of human-computer real-time interaction, the wireless communication function based on wireless data transmission technology is completed in this paper, and the upper computer interface written by LabVIEW is used at the same time. In order to ensure the normal operation of the bionic dolphin under water, according to its special moving environment and strict sealing requirements, the thermal analysis and heat dissipation optimization design of the dolphin cavity and the control system PCB board are completed in this paper. At the same time, the possible condensate water situation is analyzed and the solution is designed. Finally, the feasibility test of the dolphin control system is carried out. The simulation of the software and the joint debugging of the hardware and software based on the mechanical structure are carried out. Finally, the underwater test of the dolphin is carried out. After testing, the bionic robot dolphin control system can ensure autonomous movement, multi-attitude conversion and high-speed fast travel, and achieve the intended design objectives.
【学位授予单位】：深圳大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TP242

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