仿海蟹机器人游泳桨水动力性能及浮游步态规划方法研究
发布时间：2018-08-06 20:57
【摘要】：经过长期自然选择和进化,生物海蟹具备了陆上行走、海底爬行和水中浮游三种运动特性,广泛生存于岩石、浅滩、强海流等区域。在低速运动状态下海蟹具有运动灵活、隐蔽性强、能量利用率高等特点,将其运动机理应用于两栖仿生机器人的水下推进中,对于探索新型水下驱动方式,提高载体的运动性能具有重要的研究意义和实用价值。桨形游泳足的多驱动特性,使海蟹可以在水下完成多种复杂运动。然而,目前从海蟹运动机理角度探讨游泳足运动过程和生理特性的研究较少,其运动机理尚不清晰,并且游泳桨推进技术在水下机器人上的应用仍处于探索阶段,因此有必要对游泳桨的水下推进机理进行深入研究。本文采用理论计算、数值模拟和实验研究相结合的方法,围绕仿海蟹机器人结构设计、游泳桨推进机理分析、水下浮游步态规划、水下浮游控制方法以及机器人巡游性能测试等方面展开研究。通过对生物海蟹形态结构和运动特征的分析,提出一种足桨混合驱动仿海蟹机器人结构方案,其包含:串并联混合结构步行足、游泳桨、浮力调节装置、减阻外壳、控制舱体以及躯体结构等。机器人利用步行足和游泳桨双重推进装置,可实现陆上行走、海底爬行和水中浮游三种运动功能。在此基础上,根据步行足各关节角度的约束,利用搜索法求解步行足的可达工作空间,并从运动学和动力学两方面对仿海蟹机器人的运动性能进行仿真分析。研究仿海蟹机器人游泳桨的水动力性能。基于并行计算的CFD方法对游泳桨的三维流场进行数值模拟,分析基于升力和阻力模式下游泳桨特征点的运动轨迹、速度攻角与水动力特性间的关系。从轨迹特征、推力产生、涡的演变、尾涡结构和压力场分布等角度阐述不同运动模式水动力的产生机理,并探讨水翼结构参数、时间非对称摆动、推进模式以及游泳桨运动参数对其水下推进性能的影响,从而获得优化的二、三自由度刚性游泳桨升力和阻力运动模式下的运动参数。针对仿海蟹机器人水中浮游运动,提出一种基于中枢模式发生器(CPG)的运动控制方法。采用改进非线性振荡器作为节律信号发生器,通过相邻弱耦合方法构建仿海蟹机器人的CPG神经网络模型,并证明单个神经振荡器模型极限环存在的唯一性和稳定性。在此基础上,通过对双游泳桨协同推进的水动力学性能进行分析,提出并规划仿海蟹机器人前游、倒游、转艏、浮潜等多种水下浮游步态,建立各步态CPG网络参数库,从而实现仿海蟹机器人的三维游动控制。研究仿海蟹机器人浮游运动的目标点跟踪问题。采用牛顿-欧拉法建立仿海蟹机器人水中浮游步态完整的非线性动力学模型,根据所建立的该数学模型对机器人水中浮游的运动性能进行仿真分析,探索仿海蟹机器人水下操纵机理。在此基础上,设计一种基于指数趋近律的滑模变结构控制器,将游泳桨上下拍翼运动和摇翼运动的相位差作为被控量,对机器人的转艏角速率进行控制;通过李亚普诺夫直接法证明该系统可实现全局渐近稳定,并进行仿真分析与实验验证。结果表明:滑模控制可以使机器人具有良好的目标点跟踪能力,并对系统动力学参数不确定性及外界扰动具有较强鲁棒性。为验证游泳桨推进数值模拟的正确性,开展游泳桨推进实验研究。依据游泳桨拍动过程中水动力交变和非定常特点,搭建三自由度游泳桨的水动力测试系统,完成仿海蟹机器人游泳桨循环水槽推进实验,针对特定运动状态对实验结果和CFD数值仿真结果进行对比分析,阐述仿真与实验之间误差产生的原因;并进一步探讨水翼的截面形状、翼面刚度、各自由度耦合运动参数对游泳桨推进力和推进效率的影响。开展仿海蟹机器人水池实验研究。研制仿海蟹机器人实验样机,搭建水池实验环境,在敞水中完成仿海蟹机器人浮游性能测试和运动控制实验,测定样机在实际环境下的直航、转艏和浮潜性能,并验证基于生物CPG激发而产生的多模态运动实际效果和目标点跟踪控制算法的可行性。足桨混合驱动是一种新型的仿生推进技术,它采用步行足和游泳桨复合推进方式,使机器人能够根据浅滩地貌环境和作业任务需求自主选择水下行走或水中浮游方式进行运动。该研究成果对于提高机器人浅滩环境适应性和实用性具有重要意义。
[Abstract]:After long-term natural selection and evolution, biological sea crabs have three kinds of motion characteristics, such as land walking, seabed crawling and water floating, widely living in rocks, shoals and strong currents. In low speed motion, sea crabs have the characteristics of flexible movement, strong concealment and high energy utilization, and apply their movement mechanism to amphibious bionic machines. In the underwater propulsion, it is of great significance and practical value to explore the new underwater driving mode and improve the motion performance of the carrier. The multi drive characteristic of the paddle shaped swimming foot makes the sea crab complete a variety of complex movements under water. However, the movement and physiological characteristics of the swimming foot are discussed from the point of view of the movement mechanism of the sea crab. Less research, its movement mechanism is not clear, and the application of propeller propulsion technology in underwater robot is still in the exploration stage. Therefore, it is necessary to study the mechanism of underwater propeller underwater propulsion. This paper uses theoretical calculation, numerical simulation and experimental research in conjunction method, around the structure design of the imitation crab robot. The mechanism analysis of the propeller, underwater floating gait planning, underwater floating control method and the performance test of robot cruising are studied. Through the analysis of the morphological structure and motion characteristics of the biological sea crab, a kind of robot structure scheme with foot propeller hybrid driving imitation sea crab is proposed, which includes a series parallel hybrid structure walking foot, a swimming paddle. A buoyancy adjustment device, a drag reduction shell, a control cabin and a body structure, etc. the robot uses a dual propulsion device for walking foot and swimming paddle, which can realize three kinds of moving functions on land, submarine crawling and underwater floating. On this basis, the reachable workspace of walking foot is solved by searching method according to the constraints of the joint angles of walking foot. The motion performance of the imitated sea crab robot is simulated and analyzed from two aspects of kinematics and dynamics. The hydrodynamic performance of the swimming paddle is studied. Based on the parallel computing CFD method, the three-dimensional flow field of the swimming paddle is simulated, and the motion trajectory of the downstream paddle based on the lift and resistance model is analyzed, and the velocity attack is analyzed. The relationship between angle and hydrodynamic characteristics. From the angles of trajectory characteristics, thrust generation, vortex evolution, tail vortex structure and pressure field distribution, the formation mechanism of hydrodynamic forces in different motion modes is expounded, and the influence of hydrofoil structure parameters, time unsymmetrical swing, propulsion mode and swimming propeller motion parameters on its underwater propulsion performance is obtained. The optimized two, three degree of freedom rigid paddle lift and the motion parameters under the resistance movement mode. A motion control method based on the central mode generator (CPG) is proposed for the underwater swimming of the crab like robot. The nonlinear oscillator is used as the rhythm signal generator and the imitation sea crab is constructed by the adjacent weak coupling method. The human CPG neural network model is used to prove the uniqueness and stability of the limit cycle of a single neural oscillator model. On this basis, the hydrodynamic performance of the dual swimming paddle is analyzed, and a variety of underwater floating gait is proposed and planned for the forward swimming, reverse, bow, and snorkeling of the robot, and each gait CPG network is set up. In order to realize the three dimensional movement control of the crab like robot, the target tracking problem of the floating movement of the imitation sea crab robot is studied. The complete nonlinear dynamic model of the floating gait in the water like crab robot is established by Newton Euler method, and the motion performance of the floating robot in the water is obtained according to the established mathematical model. On the basis of this, a sliding mode variable structure controller based on the exponential convergence law is designed, and the phase difference between the wing motion and the wing motion of the swimming paddle is taken as the controlled quantity to control the turning angle rate of the robot, and the system is proved by Lyapunov direct method. The global asymptotic stability can be realized, and the simulation analysis and experimental verification are carried out. The results show that the sliding mode control can make the robot have good target tracking ability, and have strong robustness to the uncertainty of dynamic parameters of the system and the external disturbance. Based on the alternating and unsteady characteristics of the hydrodynamic force during the paddling process of the swimming paddle, a hydrodynamic test system for the three degree of freedom swimming paddle is set up to complete the experiment of the swimming paddle circulatory tank propulsion experiment of the imitating crab robot. The error between the simulation and the experiment is described in contrast to the results of the experiment and the results of the CFD numerical simulation. The influence of the cross-section shape of the hydrofoil, the stiffness of the wing and the influence of the coupling motion parameters on the propeller force and the propulsion efficiency of the swimming paddle are further discussed. The experimental research on the swimming crab robot pool is carried out. The experimental prototype of the imitation crab robot is developed, the experimental environment of the pool is built, and the floating performance measurement of the imitation crab robot is completed in open water. Test and motion control experiment to determine the direct, bow and snorkeling performance of the prototype in the actual environment, and verify the feasibility of the actual effect of multimodal motion based on the biological CPG excitation and the tracking control algorithm of the target point. The foot paddle hybrid drive is a new bionic propulsion technology, which adopts the compound propulsion side of walking foot and swimming paddle. In order to improve the adaptability and practicability of the robot shoal environment, the robot can independently select the underwater walking or water floating mode according to the shoal geomorphology environment and the task demand.
【学位授予单位】：哈尔滨工程大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP242
，
本文编号：2168964
[Abstract]:After long-term natural selection and evolution, biological sea crabs have three kinds of motion characteristics, such as land walking, seabed crawling and water floating, widely living in rocks, shoals and strong currents. In low speed motion, sea crabs have the characteristics of flexible movement, strong concealment and high energy utilization, and apply their movement mechanism to amphibious bionic machines. In the underwater propulsion, it is of great significance and practical value to explore the new underwater driving mode and improve the motion performance of the carrier. The multi drive characteristic of the paddle shaped swimming foot makes the sea crab complete a variety of complex movements under water. However, the movement and physiological characteristics of the swimming foot are discussed from the point of view of the movement mechanism of the sea crab. Less research, its movement mechanism is not clear, and the application of propeller propulsion technology in underwater robot is still in the exploration stage. Therefore, it is necessary to study the mechanism of underwater propeller underwater propulsion. This paper uses theoretical calculation, numerical simulation and experimental research in conjunction method, around the structure design of the imitation crab robot. The mechanism analysis of the propeller, underwater floating gait planning, underwater floating control method and the performance test of robot cruising are studied. Through the analysis of the morphological structure and motion characteristics of the biological sea crab, a kind of robot structure scheme with foot propeller hybrid driving imitation sea crab is proposed, which includes a series parallel hybrid structure walking foot, a swimming paddle. A buoyancy adjustment device, a drag reduction shell, a control cabin and a body structure, etc. the robot uses a dual propulsion device for walking foot and swimming paddle, which can realize three kinds of moving functions on land, submarine crawling and underwater floating. On this basis, the reachable workspace of walking foot is solved by searching method according to the constraints of the joint angles of walking foot. The motion performance of the imitated sea crab robot is simulated and analyzed from two aspects of kinematics and dynamics. The hydrodynamic performance of the swimming paddle is studied. Based on the parallel computing CFD method, the three-dimensional flow field of the swimming paddle is simulated, and the motion trajectory of the downstream paddle based on the lift and resistance model is analyzed, and the velocity attack is analyzed. The relationship between angle and hydrodynamic characteristics. From the angles of trajectory characteristics, thrust generation, vortex evolution, tail vortex structure and pressure field distribution, the formation mechanism of hydrodynamic forces in different motion modes is expounded, and the influence of hydrofoil structure parameters, time unsymmetrical swing, propulsion mode and swimming propeller motion parameters on its underwater propulsion performance is obtained. The optimized two, three degree of freedom rigid paddle lift and the motion parameters under the resistance movement mode. A motion control method based on the central mode generator (CPG) is proposed for the underwater swimming of the crab like robot. The nonlinear oscillator is used as the rhythm signal generator and the imitation sea crab is constructed by the adjacent weak coupling method. The human CPG neural network model is used to prove the uniqueness and stability of the limit cycle of a single neural oscillator model. On this basis, the hydrodynamic performance of the dual swimming paddle is analyzed, and a variety of underwater floating gait is proposed and planned for the forward swimming, reverse, bow, and snorkeling of the robot, and each gait CPG network is set up. In order to realize the three dimensional movement control of the crab like robot, the target tracking problem of the floating movement of the imitation sea crab robot is studied. The complete nonlinear dynamic model of the floating gait in the water like crab robot is established by Newton Euler method, and the motion performance of the floating robot in the water is obtained according to the established mathematical model. On the basis of this, a sliding mode variable structure controller based on the exponential convergence law is designed, and the phase difference between the wing motion and the wing motion of the swimming paddle is taken as the controlled quantity to control the turning angle rate of the robot, and the system is proved by Lyapunov direct method. The global asymptotic stability can be realized, and the simulation analysis and experimental verification are carried out. The results show that the sliding mode control can make the robot have good target tracking ability, and have strong robustness to the uncertainty of dynamic parameters of the system and the external disturbance. Based on the alternating and unsteady characteristics of the hydrodynamic force during the paddling process of the swimming paddle, a hydrodynamic test system for the three degree of freedom swimming paddle is set up to complete the experiment of the swimming paddle circulatory tank propulsion experiment of the imitating crab robot. The error between the simulation and the experiment is described in contrast to the results of the experiment and the results of the CFD numerical simulation. The influence of the cross-section shape of the hydrofoil, the stiffness of the wing and the influence of the coupling motion parameters on the propeller force and the propulsion efficiency of the swimming paddle are further discussed. The experimental research on the swimming crab robot pool is carried out. The experimental prototype of the imitation crab robot is developed, the experimental environment of the pool is built, and the floating performance measurement of the imitation crab robot is completed in open water. Test and motion control experiment to determine the direct, bow and snorkeling performance of the prototype in the actual environment, and verify the feasibility of the actual effect of multimodal motion based on the biological CPG excitation and the tracking control algorithm of the target point. The foot paddle hybrid drive is a new bionic propulsion technology, which adopts the compound propulsion side of walking foot and swimming paddle. In order to improve the adaptability and practicability of the robot shoal environment, the robot can independently select the underwater walking or water floating mode according to the shoal geomorphology environment and the task demand.
【学位授予单位】：哈尔滨工程大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP242
，
本文编号：2168964
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