Method for controlling motion of bionic long-fin undulatory propeller

A control method and motion control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem that there are few detailed introductions to the motion control method of fluctuating fins

Active Publication Date: 2009-12-23
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the research on the propulsion method of undulating fins mainly focuses on the design of the mechanism, but there are few detailed introductions on the motion control methods of undulating fins

Method used

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  • Method for controlling motion of bionic long-fin undulatory propeller
  • Method for controlling motion of bionic long-fin undulatory propeller
  • Method for controlling motion of bionic long-fin undulatory propeller

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Embodiment Construction

[0034] The motion control method of the simulated long fin wave propeller based on the CPG model of the central mode generator will be described below in conjunction with the accompanying drawings.

[0035] according to figure 1 The control method of the long-fin undulating thruster of the present invention is introduced in detail, and the input parameters and initial values ​​of the differential equation of the central pattern generator CPG model are set according to the different motion modes selected, and the control amount of the thruster steering gear is obtained through calculation to realize motion control. The input parameters and initial values ​​are used to coordinate and control the swing of a plurality of fin rays, and realize the emergency stop motion control of the long-fin undulation thruster, the turning motion control of the imitation long-fin undulation thruster and the realization of the long-fin undulation thruster Quick start motion control. The operatio...

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Abstract

The invention relates to a method for controlling motion of a bionic long-fin undulatory propeller. The method comprises the following steps: aiming at different motion modes of the long-fin undulatory propeller, setting a corresponding control parameter and an initial value; iteratively solving a differential equation of a central pattern generator model by utilizing an Euler method according to the input control parameter and the initial value; calculating a swinging angle of each fin on the long-fin undulatory propeller by utilizing an output amplitude value of the central pattern generator model in the iterative calculation process; and converting the swinging angle into the control quantity of a steering engine for coordinating and controlling a plurality of steering engines on the long-fin undulatory propeller through a pulse width modulation wave generator to enable the long-fin undulatory propeller to generate undulatory motion with stable and continuous rhythm and realize forward, backward, emergent stop, turning and rapid startup. The method is simple, reliable and easy to realize, has small calculation quantity and can meet the real-time requirement of coordinating and controlling a plurality of circuits of the steering engines of the long-fine undulatory propeller.

Description

technical field [0001] The invention belongs to the technical field of electromechanical integration, and relates to a motion control method of an underwater imitation growth fin wave propeller. Background technique [0002] The propulsion methods of fish can be divided into two types, one is the body / caudal fin propulsion method (BCF method): the fish body generates propulsion through the undulating motion of the body or the swinging motion of the caudal fin; the other is odd fin / opposite fin propulsion Mode (MPF mode): The fish body generates propulsion through the movement of odd fins such as dorsal or pelvic fins, or pairs of fins such as pectoral fins. The BCF method has good acceleration performance and high swimming efficiency in the still water environment and high-speed swimming state, while the MPF method has strong flexibility and anti-disturbance in the turbulent flow environment and low-speed movement state, and the swimming efficiency is relatively high. high....

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04B63H1/36
Inventor 王硕谭民董翔
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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