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Motion and speed control method of a bionic jellyfish-like underwater robot

An underwater robot and motion control technology, applied in the direction of non-rotating propulsion components, etc., can solve the problems of lack of bionic jellyfish speed control methods, slow frequency and amplitude convergence speed, etc., and achieve good convergence and stability effects

Active Publication Date: 2020-06-02
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] The purpose of the present invention is to solve the problem of slow convergence speed of frequency and amplitude in the rhythmic motion control process of the existing nonlinear oscillator in the bionic robot, and the lack of the problem of the speed control method of the bionic jellyfish, A motion control method and a speed control method for a bionic jellyfish-like underwater robot based on an improved oscillator are proposed.

Method used

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  • Motion and speed control method of a bionic jellyfish-like underwater robot
  • Motion and speed control method of a bionic jellyfish-like underwater robot
  • Motion and speed control method of a bionic jellyfish-like underwater robot

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specific Embodiment approach 1

[0047] The motion control method of the bionic jellyfish class underwater robot based on the improved oscillator of the present embodiment, the method includes the following steps:

[0048] Step 1. Design the bionic jellyfish power model;

[0049] Step 2. Establish the oscillator model of each joint of the bionic jellyfish, and change the waveform of the oscillator by using a non-harmonic gait generation method;

[0050] Step 3. Design the coupling mode between the two oscillators, thereby determine the establishment of the coupling mode between multiple oscillators, realize the mutual cooperation and coordination between the joints where multiple oscillators are located, complete various movement modes, and realize the bionic jellyfish Overall coordinated movement control.

specific Embodiment approach 2

[0052] Different from the specific embodiment one, the motion control method of the bionic jellyfish underwater robot based on the improved oscillator of the present embodiment, in the step one, the process of designing the bionic jellyfish dynamic model is:

[0053] The movement of jellyfish in water is periodic movement with regular rhythm. The movement process of jellyfish can be subdivided into contraction stage and relaxation stage. The two cycles of jellyfish are closely connected with each other, providing a steady stream of power for the movement of jellyfish. The main factors affecting the movement speed of bionic jellyfish are the volume of drainage during movement, the ratio of contraction time to relaxation time.

[0054] Due to the particularity of the motion of the bionic jellyfish, when the cavity shrinks, it provides a positive force relative to the direction of motion, and when the cavity relaxes, it produces a force that is opposite to the motion, so the cont...

specific Embodiment approach 3

[0089] Different from the second specific embodiment, the motion control method of the bionic jellyfish underwater robot based on the improved oscillator of this embodiment, in the second step, the oscillator model of each joint of the bionic jellyfish is established, and the non-harmonic The gait generation method changes the waveform of the oscillator, specifically:

[0090] Step 21: Use a single oscillator to simulate the motion of a joint of the bionic jellyfish, use the amplitude of the oscillator as the amplitude of the corresponding joint motion, use the frequency of the oscillator as the frequency of the corresponding joint motion, and use the coupling strength of the oscillator as the value of the bionic jellyfish. The extent to which joints interact with each other during jellyfish movement;

[0091] Step 22. When designing and selecting a suitable oscillator and considering the coupling method of the oscillator, the following factors need to be considered comprehens...

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Abstract

The invention discloses a motion and speed control method of a bionic jellyfish like underwater robot, and belongs to the field of bionic robot control. An existing non-linear oscillator has the slowfrequency and amplitude convergence rate in bionic robot rhythmic movement control, and a corresponding speed control method is lacked. According to the motion and speed control method of the bionic jellyfish like underwater robot, a bionic jellyfish power model is designed, oscillator models of bionic jellyfish joints are built, and the waveform of oscillators is changed; the coupling manner between the two oscillators is designed, accordingly, the coupling manner between the oscillators is determined, coordination between the joints where the oscillators are located is achieved, bionic jellyfish motion control is achieved, according to the motion control, the frequency and average speed change curve is drawn, the corresponding motion frequency is found, the periodic speed change curve iscalculated to serve as the expected speed, and according to the expected speed, speed is controlled. According to the algorithm, the bionic jellyfish motion convergence is good, and the motion speedcan be stably controlled.

Description

technical field [0001] The invention relates to a control method of a bionic robot, in particular to a motion control and speed control method of a bionic jellyfish. Background technique [0002] Compared with other fishes, jellyfish has the characteristics of small size, light weight, high flexibility, low metabolic rate, etc., and can effectively use the wave motion of water flow. Using these characteristics, people began to be interested in the research of bionic jellyfish, aiming to develop a bionic jellyfish prototype. [0003] There are also many important application scenarios for bionic jellyfish in engineering. Bionic jellyfish can operate in complex waters and has a large cavity space for placing instruments and equipment. It plays an important role in marine biological investigation, marine rescue, marine resource exploration and other scenarios. In addition, the bionic jellyfish has the characteristics of lower noise, stronger concealment and motion stability, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63H1/37
Inventor 王卓孙延超徐沈方秦洪德张佩吴淼张士伟
Owner HARBIN ENG UNIV