Fuzzy controller of biomimetic robotic fish and control method thereof

Abstract

The invention provides a fuzzy controller of biomimetic robotic fish capable of feeding back and adjusting control parameters in real time to improve the control performance. The object of the invention is realized by that the fuzzy controller of biomimetic robotic fish comprises: a receiving module, which acquires a desired value and a measured value obtained by a sensor and calculates out an error (e) between the desired value and the measured value and a rate of error change (e c); a quantization module, which quantizes the error (e) and the rate of error change (e c) according to a quantization factor to obtain a quantized error (E) and a quantized rate of error change (E C); a first fuzzy control module, which queries a fuzzy control table according to the quantized error (E) and thequantized rate of error change (E C) to obtain a control quantity; an actual control increment output module, which multiplies the control quantity by a scaling factor to obtain an actual control increment; and a second fuzzy control module, which adjusts the quantization factor of the quantization module and the scaling factor according to the quantized error (E) and the quantized rate of error change (E C). the invention further provides a fuzzy control method of the biomimetic robotic fish.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a fuzzy control method for a bionic robot fish. Background technique [0002] The bionic robot fish imitates the swimming posture of fish, and adopts a high-efficiency, maneuverable and flexible underwater propulsion method, which can meet the requirements of future ocean development and underwater robot technology development. However, due to the particularity of the structure of the bionic robotic fish, it is difficult to accurately obtain its hydrodynamic coefficient; the mutual coupling of the movements of each degree of freedom; The dynamic system of the bionic robotic fish is strongly nonlinear and time-varying. Considering the autonomy and adaptability of the robotic fish, from the perspective of improving its motion performance, the control system should also have good adaptive and self-learning capabilities. , but the bionic robot fish control method in the pr...

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Problems solved by technology

However, due to the particularity of the structure of the bionic robotic fish, it is difficult to accurately obtain its hydrodynamic coefficient; the mutual coupling of the movements of each degree of freedom; The dynamic system of the bionic robotic fish is strongly nonlinear and time-varying. Considering the autonomy and adaptability of the robotic fish, from the perspective of improving its motion performance, the control system should also have good adaptive and self-learning capabilities. , but the bionic robot fish control method in the prior art, such as the fuzzy control method for the swimming direction of the bionic robot fish disclosed in the Chinese invention patent application publication number CN1484119A, only obtains the control amount according to the deviation and the deviation change rate , without real-time adjustment of the control parameters, which cannot meet the precise control requirements of the bionic robotic fish under such strongly nonlinear and time-varying conditions

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