【作者】 谢海斌； 沈林成； 张代兵；

【Author】 XIE Hai-bin,SHEN Lin-cheng,ZHANG Dai-bing (College of Mechatronics Engineering and Automation,National University of Defense Technology, Changsha 410073,China)

【机构】 国防科学技术大学机电工程与自动化学院；

【摘要】 论文介绍了一种基于多波动鳍组合推进的新型仿生水下机器人,主要研究了该机器人的控制系统设计问题。针对其结构特点和动力学特性,首先提出三层控制系统分层结构分别处理机器人运动与姿态控制、多鳍协同波动控制与仿生鳍波动运动控制三个层级的控制问题,并且根据控制目标的不同,将运动与姿态控制层级设计为双环控制系统。航速、航向与俯仰控制作为基本通道处于控制内环,控制任务分解模块作为控制外环将非基本通道的控制目标转化或分解为基本通道的控制目标。最后采用模糊自适应PID控制策略对航速、航向与俯仰三个基本通道进行非耦合分离设计,并通过仿真对论文提出的控制系统结构和控制策略的有效性进行了初步验证。更多还原

【Abstract】 The paper introduces a new type underwater vehicle propelled by multiple undulatory fins,and mainly researches on the design of control system of this vehicle. Aiming at its structure and dynamics,firstly proposed a three-layers hierarchical control structure to deal with movement and attitude control of vehicle,coordinated undulating control of multi-fins,and undulating control of bionic fin,respectively. According to the difference of control objectives,movement and attitude control layer is designed as double-loops control system.Speed,yawing and pitching controller are inner-loop controllers,the control task decomposing modular is outer-loop controller used to decomposing or transferring these control objectives of non-basic control channels to the basic control channels’objectives.Finally,the controllers aiming at three basic channels of speed,yawing and pitching are respectively designed adopting the fuzzy adaptive PID method,and then primarily verified the validities of the control system structure and control strategy proposed by this paper through simulation.更多还原