仿生机器鱼浮潜运动建模及控制

摘要

良好的巡游和转向性能能够使仿生机器鱼在二维平面内自由游动.然而仿生机器鱼所需完成的任务不仅仅在二维平面内,还需具备上浮和下潜的功能,使其能够在三维平面内自由游动.在当前仿生机器鱼浮潜运动控制方法的基础上,采用重心改变法设计了一种重心调节机构.该机构利用电机和丝杆带动重心调节块前后移动,改变仿生机器鱼重心的位置.针对所设计的重心调节结构,建立了其浮潜运动模型,并利用PID控制器进行浮潜运动仿真.利用仿生机器鱼样机进行实验,实验结果表明所设计的重心调节结构及所建立的运动模型能够有效控制仿生机器鱼的浮潜运动.%Good cruising and steering performance can make the biomimetic robotic fish swim freely in two-dimensional plane.However,the task of biomimetic robotic fish is not only in the two-dimensional plane,but also has the function of floating and diving,so that it can swim freely in the three-dimensional plane.On the basis of the current control for snorkeling of biomimetic robotic fish,the center of gravity change method was adopted to design a kind of center of gravity adjusting mechanism.The mechanism uses the motor and the screw rod to drive the gravity center adjusting block to move forward and backward,and change the position of the gravity center of the biomimetic robotic.According to the design of the center of gravity adjustment structure,this paper establishes the movement modeling of snorkeling,and uses the PID controller to simulate the movement of snorkeling.The experimental results show that the design of the center of gravity and the motion model can effectively control the snorkeling of the biomimetic robotic fish.