多鳍机器鱼仿生协调控制及推进性能研究

发布时间：2017-12-28 00:31

本文关键词：多鳍机器鱼仿生协调控制及推进性能研究　出处：《中国科学技术大学》2017年硕士论文　论文类型：学位论文

【摘要】：鱼类运动的研究给机器鱼设计及发展提供了丰富的灵感来源。鱼类的表现能够提供一系列复杂的运动设计,涉及到用于产生运动力的多样性的结构和与水生环境相互作用的多用途的运动模式。在复杂、不确定的水下环境中,水下机器鱼能出色地完成湖海探测等有着重要应用前景的任务。由于具有机动性强、智能化高、适应性强和安全性好等优势,智能机器鱼已经逐渐成为完成水下任务的重要工具。神经生物学家研究表明,鱼类游动所涉及的有节律的活动是由在脊椎层面的中央模式发生器所产生的,其本质上可以看做是一个非线性振荡神经元产生的强大的网络,能够在没有顶层有节律的输入的情况下产生有节律的输出。本文设计了两款新颖的双尾鳍机器鱼,在保持快速游动的优势之外,大大消除了单尾鳍机器鱼在前进时左右摇晃的弊端。第一代机器鱼研究重点主要在于用CPG控制网络实现其各种机动动作的平滑过渡,而对于第二代双尾鳍机器鱼的重点则在于建立一个可靠高效的水动力学建模。本论文的的主要研究内容及成果如下所示:(1)双尾鳍机器鱼的系统设计。在结合多矢量推进的胸鳍和双尾鳍的基础上,设计了第一代双尾鳍机器鱼DualFish-Ⅰ,其靠前的胸鳍负责胸鳍前进后退及其他机动动作,而尾鳍则负责快速巡航。与第一代机器鱼不同,第二代机器鱼DualFish-Ⅱ采用单一大功率Maxon电机控制两个尾鳍能够精确同步相向摆动,实验最高频率能够达到6Hz,满足设计要求。(2)CPG神经控制网络的建立。从原始的神经元振荡方程开始,详细的推导了CPG控制网络模型的构建,并结合第一代双尾鳍机器鱼DualFish-I的运动特性,建立了与之相匹配的神经控制网络,最后将获取的红外传感器反馈模拟量转换为距离值,传递给CPG控制网络中的反馈部分,初步实现机器鱼在垂直面的自主避障功能。(3)水动力学建模。以刚性分段理论为基础,结合无粘性和无压缩性的准稳态的假设,对刚性和柔性单尾鳍进行了充分的理论建模,初步获得柔性尾鳍在若干摆动周期内的推进力。(4)双尾鳍机器鱼的机动性能及推进性能实验测试。以双尾鳍机器鱼DualFish-Ⅰ和DualFish-Ⅱ为实验对象,开展了各种机动性能(前进后退、上浮下潜、翻滚转弯和前后空翻等)测试实验以及快速推进性能实验,在选用较小功率的舵机情况下,第一代机器鱼具有非常出色的高速特性,使用双尾鳍摆动推进的最高速度能够达到0.54 m/s,约1.21BL/s,而用胸鳍推进所达到的最高巡航速度可达0.35m/s,约0.8BL/s。第二代双尾鳍机器鱼具有较高的加速性能,最大加速度约能达到0.7m/s2,同时DualFish-Ⅱ还具有非常好的巡航速度,最高速度能达到0.7m/s,约1.59BL/s;
[Abstract]:The study of fish movement provides a rich source of inspiration for the design and development of robotic fish. The performance of fish can provide a series of complex motion designs, involving the structure of multiple structures for generating exercise force and the multipurpose sports mode of interaction with aquatic environment. In the complex and uncertain underwater environment, the underwater machine fish can accomplish the important application of the lake and sea exploration. Because of its advantages of strong mobility, high intelligence, strong adaptability and good security, intelligent machine fish has gradually become an important tool to accomplish underwater tasks. The research shows that neurobiologist, fish swimming involved rhythmic activity is generated by the central pattern generator in spinal level, its essence can be regarded as a nonlinear oscillation neurons produce a strong network, can output the rhythm in no top rhythmic input case. This paper designs two new type of double tail fin robot fish, which keeps away from the advantages of fast swimming. It greatly eliminates the disadvantages of the single fin fin robot fish swaying in advance. The first generation of robotic fish research focuses on the smooth transition of all kinds of maneuverability by CPG control network. For the second generation of double fin fin robot fish, the key is to establish a reliable and efficient hydrodynamic modeling. The main contents and results of this paper are as follows: (1) the system design of double caudal fin machine fish. On the basis of the vectored thruster pectoral fins and double tail fin on the design of the first generation of twin skeg robotic fish DualFish- 1, the front of the pectoral fin of pectoral fin and other responsible for forward and backward maneuver, and the tail is responsible for fast cruise. Unlike the first generation of robotic fish, the second generation of robot fish DualFish- II uses a single high power Maxon motor to control two caudal fin, which can synchronize accurately and swing. The highest frequency of experiment can reach 6Hz, which meets the design requirements. (2) the establishment of CPG neural control network. From the beginning of neuronal oscillations of the original equations, detailed derivation of the CPG construction control network model, and combined with the motion characteristics of the first generation of twin skeg robotic fish DualFish-I, built to match the neural network control, infrared sensor will obtain the final feedback analog to the distance value passed to the feedback part of CPG control network in the initial implementation of fish robot autonomous obstacle avoidance function in vertical plane. (3) hydrodynamic modeling. Based on rigid segmentation theory, combined with the assumption of quasi steady state without viscosity and non compressibility, a rigid and flexible single fin fin is fully modeled, and the propulsion force of flexible tail fin in some swing periods is preliminarily obtained. (4) experimental test on the maneuverability and propelling performance of the double caudal fin machine fish. The double tail fin machine fish DualFish- I and DualFish- II as the experimental object, to carry out a variety of motor performance (forward and backward, up and down, tumbling and turning backflips etc.) test and the rapid advance of performance test in the steering gear with small power under the situation, the first generation of robotic fish with excellent characteristics of high speed, using the highest speed double caudal fin propulsion can reach 0.54 m/s, about 1.21BL/s, the maximum cruising speed of up to 0.35m/s and pectoral fin reached about 0.8BL/s. Accelerate the performance of the second generation of twin skeg robotic fish is high, the maximum acceleration can reach about 0.7m/s2, while DualFish- II also has a very good cruise speed, can reach a maximum speed of 0.7m/s, about 1.59BL/s;
【学位授予单位】：中国科学技术大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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