【作者】 李志成；

【导师】 王常虹；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2009， 硕士

【摘要】 传统的推进方式存在着诸多缺点,而鱼类的游动推进方式具有高速、高效率机动性好、低噪声等诸多优点。因此为研究其推进方式,仿生机器鱼应运而生,其研究内容具有重要的现实意义和潜在的军事及商业价值,本文通过对有关机器鱼研究的文献进行分析和总结,对仿生机器鱼的推进模型及鱼体总体设计及实现进行了研究。仿生机器鱼形态诸多,通过对比各高校及各国的机器鱼的发展情况,本文通过对鲹科鱼类推进模式为研究对象,设计串联式的联动机构实现摆尾运动,分析其游动机理,设计了三自由度的尾鳍推进系统,建立了参数化的三关节尾鳍推进模式的数学模型,并对其推进过程进行了动力学分析,通过利用“二维运动板”理论对尾鳍推进的水动力学进行了初步分析,提炼出控制变量,为控制算法提供基础。针对仿生机器鱼运动的特点,利用AVR单片机进行了硬件控制系统的设计,其中包括:舵机控制,串行通讯电路,遥控发射接收电路等,建立了整个推进系统的硬件控制平台,对控制系统电路进行了调试。设计了PID及状态决策树的控制算法,并进行了基于C语言的下位机的嵌入式控制软件的开发,规划并完成了底层的运动控制程序的编写及调试。论文最后完成了机器鱼入水试验,验证了系统的可行性,对机器鱼在不同控制性能下进行了对比试验,完成机器鱼基本动作控制的验证。更多还原

【Abstract】 Traditional propulsion method has many disadvantages. Fish has advanced propulsion method,which has characteristic of high speed,high efficient, excellent maneuvering performance,low noise etc. So the biomimic robot fish has been made to research the real fish’s propulsion method. The contents of its research have important significance,latent military and economical value. This paper analyses and summarizes the research literature of robot fish, studies the robot fish’s bionic motions, its integrated design and realized technologies.Robot fish has many configurations. Comparing the robot fish from different universities and nations, this paper takes the fish of Carangiform as the mimetic object. Through the design of structure in series and the bionics study to the principle of Carangiform’s propulsion and the robot fish’s main body mechanism that has three degrees of freedom tail fin.At the same time,the parameterized mathematical model of three-hinged propulsion system is established. The kinematics analysis,dynamics analysis to the propulsion process and preliminary hydrodynamics analysis to the tail fin have been completed. The dynamics equations to the propulsion system have been established. It is established and analyzed the dynamic model of robotic-fish through the theory of planar wave plank. On the basis of the dynamic model, the control method can be designed.According to the robot fish’s motions characteristic,the author designs hardware of robot fish’s control system based on the AVR microcontroller,including the control of motor, the serial communication circuit,the remote control circuit for transmitting and receiving,etc,establishes the entire platform for controlling propulsion system and debugs the hardware circuit of control system. Meanwhile,the basic PID control algorithm and the Decision Tree Algorithm for motions control is developed according to the control strategy based on C language. The lower-layer motions control software is compiled and debugged.Finally,the paper establishes the robot fish experiment system,carries on the drive performance testing experiment to robot fish’s joint and the flapping propulsion experiment,validates the feasibility of the design,carries on the contrast experiment and analysis the control performance when the robot fish under different motion states.更多还原