A flexible body bionic fish and its drive control method

Abstract

The invention discloses a flexible bionic fish and a drive control method thereof. The flexible bionic fish comprises a fishtail propelling unit and a direction control unit. The fishtail propelling unit comprises a fish body assembly and a fishtail assembly which can swing relatively; a drive control circuit and an electromagnetic coil combination are arranged in the fish body assembly; the direction control unit comprises a lifting motor group and a steering motor; mass blocks are arranged on the rotary shafts of the lifting motor group and the steering motor, and the lifting motor group and the steering motor are connected to MEMS gyroscopes; the MEMS gyroscope, the lifting motor group, the steering motor and the electromagnetic coils are separately connected to the drive control circuit; the drive control circuit comprises a signal processing module, an opto-isolator module and a power driving module which are successively connected; the drive control circuit also comprises a stabilized voltage supply module, a humidity sensitive switch and a Bluetooth receiver. The flexible bionic fish disclosed by the invention can float upward, dive and turn left and right flexibly and precisely, and can swing in water in various modes.

Description

technical field [0001] The invention relates to a bionic fish, in particular to a driving control method for a bionic fish with a flexible body. Background technique [0002] After hundreds of millions of years of natural selection, fish have formed unique shapes and movement modes suitable for underwater complex environments. Bionic fish underwater propellers play an important role in resource exploration, disaster relief and military defense. These movement modes are mainly divided into body / caudal fin (body and / or caudal fin, BCF) propulsion mode and central fin / pair fin (median and / orpaired fin, MPF) propulsion mode. Among them, the BCF type fish uses a powerful fish body and tail fin as a propeller, and has faster speed and maneuverability than the MPF type fish. The movement of fish is very complex, requiring many degrees of freedom in the propulsion device. These degrees of freedom can be realized by using a multi-joint series-parallel rigid structure, but this redu...

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