本文關(guān)鍵詞：多鰭機(jī)器魚仿生協(xié)調(diào)控制及推進(jìn)性能研究　出處：《中國(guó)科學(xué)技術(shù)大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 雙尾鰭機(jī)器魚 中樞模式發(fā)生器 水動(dòng)力模型 運(yùn)動(dòng)控制 快速推進(jìn)

【摘要】：魚類運(yùn)動(dòng)的研究給機(jī)器魚設(shè)計(jì)及發(fā)展提供了豐富的靈感來(lái)源。魚類的表現(xiàn)能夠提供一系列復(fù)雜的運(yùn)動(dòng)設(shè)計(jì),涉及到用于產(chǎn)生運(yùn)動(dòng)力的多樣性的結(jié)構(gòu)和與水生環(huán)境相互作用的多用途的運(yùn)動(dòng)模式。在復(fù)雜、不確定的水下環(huán)境中,水下機(jī)器魚能出色地完成湖海探測(cè)等有著重要應(yīng)用前景的任務(wù)。由于具有機(jī)動(dòng)性強(qiáng)、智能化高、適應(yīng)性強(qiáng)和安全性好等優(yōu)勢(shì),智能機(jī)器魚已經(jīng)逐漸成為完成水下任務(wù)的重要工具。神經(jīng)生物學(xué)家研究表明,魚類游動(dòng)所涉及的有節(jié)律的活動(dòng)是由在脊椎層面的中央模式發(fā)生器所產(chǎn)生的,其本質(zhì)上可以看做是一個(gè)非線性振蕩神經(jīng)元產(chǎn)生的強(qiáng)大的網(wǎng)絡(luò),能夠在沒(méi)有頂層有節(jié)律的輸入的情況下產(chǎn)生有節(jié)律的輸出。本文設(shè)計(jì)了兩款新穎的雙尾鰭機(jī)器魚,在保持快速游動(dòng)的優(yōu)勢(shì)之外,大大消除了單尾鰭機(jī)器魚在前進(jìn)時(shí)左右搖晃的弊端。第一代機(jī)器魚研究重點(diǎn)主要在于用CPG控制網(wǎng)絡(luò)實(shí)現(xiàn)其各種機(jī)動(dòng)動(dòng)作的平滑過(guò)渡,而對(duì)于第二代雙尾鰭機(jī)器魚的重點(diǎn)則在于建立一個(gè)可靠高效的水動(dòng)力學(xué)建模。本論文的的主要研究?jī)?nèi)容及成果如下所示:(1)雙尾鰭機(jī)器魚的系統(tǒng)設(shè)計(jì)。在結(jié)合多矢量推進(jìn)的胸鰭和雙尾鰭的基礎(chǔ)上,設(shè)計(jì)了第一代雙尾鰭機(jī)器魚DualFish-Ⅰ,其靠前的胸鰭負(fù)責(zé)胸鰭前進(jìn)后退及其他機(jī)動(dòng)動(dòng)作,而尾鰭則負(fù)責(zé)快速巡航。與第一代機(jī)器魚不同,第二代機(jī)器魚DualFish-Ⅱ采用單一大功率Maxon電機(jī)控制兩個(gè)尾鰭能夠精確同步相向擺動(dòng),實(shí)驗(yàn)最高頻率能夠達(dá)到6Hz,滿足設(shè)計(jì)要求。(2)CPG神經(jīng)控制網(wǎng)絡(luò)的建立。從原始的神經(jīng)元振蕩方程開始,詳細(xì)的推導(dǎo)了CPG控制網(wǎng)絡(luò)模型的構(gòu)建,并結(jié)合第一代雙尾鰭機(jī)器魚DualFish-I的運(yùn)動(dòng)特性,建立了與之相匹配的神經(jīng)控制網(wǎng)絡(luò),最后將獲取的紅外傳感器反饋模擬量轉(zhuǎn)換為距離值,傳遞給CPG控制網(wǎng)絡(luò)中的反饋部分,初步實(shí)現(xiàn)機(jī)器魚在垂直面的自主避障功能。(3)水動(dòng)力學(xué)建模。以剛性分段理論為基礎(chǔ),結(jié)合無(wú)粘性和無(wú)壓縮性的準(zhǔn)穩(wěn)態(tài)的假設(shè),對(duì)剛性和柔性單尾鰭進(jìn)行了充分的理論建模,初步獲得柔性尾鰭在若干擺動(dòng)周期內(nèi)的推進(jìn)力。(4)雙尾鰭機(jī)器魚的機(jī)動(dòng)性能及推進(jìn)性能實(shí)驗(yàn)測(cè)試。以雙尾鰭機(jī)器魚DualFish-Ⅰ和DualFish-Ⅱ?yàn)閷?shí)驗(yàn)對(duì)象,開展了各種機(jī)動(dòng)性能(前進(jìn)后退、上浮下潛、翻滾轉(zhuǎn)彎和前后空翻等)測(cè)試實(shí)驗(yàn)以及快速推進(jìn)性能實(shí)驗(yàn),在選用較小功率的舵機(jī)情況下,第一代機(jī)器魚具有非常出色的高速特性,使用雙尾鰭擺動(dòng)推進(jìn)的最高速度能夠達(dá)到0.54 m/s,約1.21BL/s,而用胸鰭推進(jìn)所達(dá)到的最高巡航速度可達(dá)0.35m/s,約0.8BL/s。第二代雙尾鰭機(jī)器魚具有較高的加速性能,最大加速度約能達(dá)到0.7m/s2,同時(shí)DualFish-Ⅱ還具有非常好的巡航速度,最高速度能達(dá)到0.7m/s,約1.59BL/s;
[Abstract]:The study of fish movement provides a rich source of inspiration for the design and development of robotic fish. The performance of fish can provide a series of complex motion designs, involving the structure of multiple structures for generating exercise force and the multipurpose sports mode of interaction with aquatic environment. In the complex and uncertain underwater environment, the underwater machine fish can accomplish the important application of the lake and sea exploration. Because of its advantages of strong mobility, high intelligence, strong adaptability and good security, intelligent machine fish has gradually become an important tool to accomplish underwater tasks. The research shows that neurobiologist, fish swimming involved rhythmic activity is generated by the central pattern generator in spinal level, its essence can be regarded as a nonlinear oscillation neurons produce a strong network, can output the rhythm in no top rhythmic input case. This paper designs two new type of double tail fin robot fish, which keeps away from the advantages of fast swimming. It greatly eliminates the disadvantages of the single fin fin robot fish swaying in advance. The first generation of robotic fish research focuses on the smooth transition of all kinds of maneuverability by CPG control network. For the second generation of double fin fin robot fish, the key is to establish a reliable and efficient hydrodynamic modeling. The main contents and results of this paper are as follows: (1) the system design of double caudal fin machine fish. On the basis of the vectored thruster pectoral fins and double tail fin on the design of the first generation of twin skeg robotic fish DualFish- 1, the front of the pectoral fin of pectoral fin and other responsible for forward and backward maneuver, and the tail is responsible for fast cruise. Unlike the first generation of robotic fish, the second generation of robot fish DualFish- II uses a single high power Maxon motor to control two caudal fin, which can synchronize accurately and swing. The highest frequency of experiment can reach 6Hz, which meets the design requirements. (2) the establishment of CPG neural control network. From the beginning of neuronal oscillations of the original equations, detailed derivation of the CPG construction control network model, and combined with the motion characteristics of the first generation of twin skeg robotic fish DualFish-I, built to match the neural network control, infrared sensor will obtain the final feedback analog to the distance value passed to the feedback part of CPG control network in the initial implementation of fish robot autonomous obstacle avoidance function in vertical plane. (3) hydrodynamic modeling. Based on rigid segmentation theory, combined with the assumption of quasi steady state without viscosity and non compressibility, a rigid and flexible single fin fin is fully modeled, and the propulsion force of flexible tail fin in some swing periods is preliminarily obtained. (4) experimental test on the maneuverability and propelling performance of the double caudal fin machine fish. The double tail fin machine fish DualFish- I and DualFish- II as the experimental object, to carry out a variety of motor performance (forward and backward, up and down, tumbling and turning backflips etc.) test and the rapid advance of performance test in the steering gear with small power under the situation, the first generation of robotic fish with excellent characteristics of high speed, using the highest speed double caudal fin propulsion can reach 0.54 m/s, about 1.21BL/s, the maximum cruising speed of up to 0.35m/s and pectoral fin reached about 0.8BL/s. Accelerate the performance of the second generation of twin skeg robotic fish is high, the maximum acceleration can reach about 0.7m/s2, while DualFish- II also has a very good cruise speed, can reach a maximum speed of 0.7m/s, about 1.59BL/s;
【學(xué)位授予單位】：中國(guó)科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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相關(guān)期刊論文 前3條

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本文編號(hào)：1343872