Construction of propulsion motion control equation of bionic undulatory fin and parameter setting optimization method thereof

Abstract

The invention discloses construction of a propulsion motion control equation of a bionic undulatory fin and a parameter setting optimization method thereof, wherein an improved particle swarm algorithm is used for setting and optimizing parameters of the propulsion motion control equation of the bionic undulatory fin based on a central pattern generator. The motion control equation based on the central pattern generator can generate various rhythm signals with variable phase difference, frequency and amplitude, can resist the influence of sudden change of control parameters on the continuity of output signals, and can realize flexible transition of a bionic undulatory fin underwater robot under the switching of different swimming modes; and a method of CPG parameter setting optimization based on the improved particle swarm algorithm by taking a kinematic equation of a simplified ruled surface of a wave motion of a bionic object black ghost fish as a reference is proposed,. An inertia factor of the particle swarm algorithm is improved, and decreases linearly with the iteration of the algorithm, the accuracy of CPG parameter setting optimization is improved, and the performance of the bionic undulatory fin underwater robot is improved from a control algorithm level.

Description

technical field [0001] The invention belongs to the technical field of bionic underwater robot motion control algorithms, and in particular relates to a method for constructing a bionic undulating fin propulsion motion control equation and its parameter setting optimization method. Background technique [0002] With the advancement of the national marine strategy, underwater robots have been widely used in military and civilian fields such as submarine resource detection, marine biological observation, and submarine pipeline maintenance. Traditional underwater robots are generally propelled by propellers, which have the disadvantages of loud noise, poor maneuverability and low propulsion efficiency. The new type of bionic underwater robot refers to a new type of mechatronic equipment designed by imitating the propulsion mechanism or shape of marine organisms such as fish and using bionic mechanics and other technologies. It has good concealment, flexible movement, and low en...

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Problems solved by technology

However, none of the above methods involve using the actual motion parameters of the bionic object to optimize the parameters of the CPG motion control equations.

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