Movement control method of pectoral fin impelling type machine fish

Abstract

The invention relates to a movement control method of pectoral fin impelling type machine fish, which comprises the following steps: using a plurality of centrum mode generators for forming a movement control network of the machine fish, and forming each centrum mode generator by adding input saturation functions and output amplification functions to single oscillation nerve cell; sending actuating signals into the first input saturation function and the second input saturation function, and carrying out frequency conversion on the actuating signals by the first input saturation function to obtain the natural frequency of the centrum mode generators; carrying out oscillation amplitude conversion on the actuating signals by the second input saturation function to obtain the natural oscillation amplitude; carrying out mutual inhabitation between state variables and coupling processing between oscillation nerve cells on the natural frequency and the natural oscillation amplitude to generate membrane potential signals; sending the membrane potential signals into the output amplification functions; carrying out proportional amplification and amplitude limiting processing on the membrane potential signals by the output amplification functions; and generating synapse connection signals, and sending the synapse connection signals onto a steering engine of a pectoral fin so that the pectoral fin can be driven to do reciprocating movement in a range between 0 and 360 degrees by a pectoral fin driving shaft.

Description

technical field [0001] The invention relates to an underwater motion control method in which a bionic robot fish adopts a central pattern generator model to coordinate the propulsion of a left pectoral fin and a right pectoral fin, and belongs to the field of bionics. Background technique [0002] Central Pattern Generator (CPG) is a kind of neuronal circuit existing in the central nervous system of invertebrates and vertebrates. It produces rhythmic behaviors such as walking, swimming, flying, breathing, and chewing without rhythmic control or feedback input. Traditional model-based robot control methods have problems such as complex modeling, non-unique solutions, single-cycle planning, etc., especially in tasks that require multi-degree-of-freedom coordinated control, and lack sufficient real-time performance. Due to the superiority of central mode generators in coordinating multi-degree-of-freedom movements, bionic control of central mode generators has received increas...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a motion control method of a bionic robotic fish based on a central pattern generator model to solve the three-dimensional multi-modal motion control problem of a bionic robotic fish with pectoral fin propulsion function

Images