基于CPG的自主机器鱼运动控制研究

发布时间：2023-06-05 01:37

　　随着科学技术的发展,人们在开发和利用陆地资源的基础上,将目光投向了占地球面积71%的海洋。作为探索海洋的重要工具,水下仿生机器鱼成为研究的热点之一,科研工作者在机器鱼的仿生推进机构设计、运动控制、水动力学分析等方面做了大量工作。根据推进方式的不同,机器鱼可分为身体/尾鳍推进方式(Body and/or Caudal fin Propulsion mode,BCF)和中央鳍/对鳍推进方式(Media and/or Paired fin Propulsion mode,MPF)。其中,针对机器鱼的基本游动行为控制问题,已经取得了较多的结果。本文针对动态水环境中自主仿生机器鱼的运动控制问题展开研究,以提升其在复杂水环境中完成任务的能力。主要工作内容如下:1.系统总结了仿生机器鱼的研究进展。针对鱼类游动机理、仿生推进机构设计、运动控制技术、能源供给和水下通信技术等内容,系统分析了机器鱼领域的研究进展和存在的主要问题,在此基础上,从工程应用和性能提升两个方面,讨论了机器鱼领域未来的研究方向和发展趋势。2.基于中枢模式发生器(Central Pattern Generator,CPG)模型,设计了...

【文章页数】：49 页

【学位级别】：硕士

【文章目录】：
Abstract
摘要
1 General introduction of the Research
    1.1 Research Background
    1.2 Research Problems Statement
    1.3 Significance and Aims of the Research
2 Research progress and development trend of Robotic fish
    2.1 Introduction
    2.2 Robot fish Research Status
        2.2.1 The progress in the study of swimming mechanism
    2.3 Research Progress in Robotic Fish
        2.3.1 BCF mode Machine Fish
        2.3.2 MPF mode robot fish
    2.4 Key Technologies of Robotic Fish Research
        2.4.1 Fish Swimming Mechanism
        2.4.2 Drive Material
        2.4.3 Robotic Fish Propulsion Technology
        2.4.4 Robot fish control technology
        2.4.5 Energy supply technology
        2.4.6 Underwater communication technology
    2.5 Research direction and development trend
    2.6 Summary
3 Velocity Control of Swimming Robotic Fish Based on CPG Model
    3.1 Introduction
    3.2 Mechanical Structure of Robotic Fish
    3.3 Propulsion Mode Of a Robotic Fish
    3.4 Motion Control of Robotic Fish
    3.5 CPG model and its characteristics
    3.6 Dynamic Model of a Robotic Fish
        3.6.1 The Hydrodynamics Model
        3.6.2 kinematic model
    3.7 Simulation Results
    3.8 Summary
Conclusion
Acknowledgement
References
Research achievements during the period of working for master's degree



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