Manta ray imitating aircraft course control method based on flapping wing amplitude

Abstract

The invention relates to a manta ray imitating aircraft course control method based on a flapping wing amplitude. The method comprises the steps: obtaining the current course information through an attitude sensor for a manta ray imitating aircraft, and calculating a yaw value; designing a course fuzzy controller, and constructing a fuzzy closed-loop control system of the course of the manta ray imitating aircraft so as to realize quantitative control of an expected course by establishing a control closed loop; and taking parameters obtained through a fuzzy control algorithm as CPG amplitude variables, enabling a CPG controller to output a flapping wing control signal, establishing a CPG phase oscillator model, adjusting a flapping wing system controlled through a CPG neural network, realizing course control over the manta ray imitating aircraft, and then completing the task of fixed-navigation swimming.

Description

technical field [0001] The invention belongs to a course control method of an underwater vehicle, and relates to a course control method of a manta ray imitation vehicle based on flapping wing amplitude. Background technique [0002] As an intelligent underwater carrier platform, unmanned submersibles are widely used in military and civilian operations such as resource exploration and enemy reconnaissance, such as hydrological information collection, underwater and surface target monitoring, etc. The researchers drew inspiration from aquatic organisms, especially fish such as manta rays, and developed a manta-ray-like underwater vehicle based on the principle of bionic propulsion. [0003] With the deepening of ocean exploration, the requirements for underwater vehicles are getting higher and higher, requiring more precise heading control. Due to the complex underwater environment, there are disturbances such as water currents of different strengths and speeds, which can ea...

AI Technical Summary

Problems solved by technology

Due to the complex underwater environment, there are interferences such as different strengths and speeds of water flow, which can easily affect the aircraft's failure to follow the set course.

Traditional submersibles mostly use propeller propulsion. Although they can obtain greater thrust and higher speed, there are many problems such as low efficiency, high energy consumption, high noise, and difficulty in changing the navigation attitude flexibly.

In order to solve the problem of yaw movement of underwater vehicles in the water, traditional propeller-propelled vehicles generally achieve heading control by changing the rudder angle, but there are differences in the drive mode between the manta ray-like vehicle and the traditional vehicle. Therefore, it is very difficult to use the traditional method to achieve its precise heading control, and it is necessary to design a new heading control method.

However, in the open literature, there is no example of realizing the heading control of the manta ray aircraft by changing the state of the flapping wing.

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