CASIA OpenIR  > 毕业生  > 博士学位论文
波动鳍推进仿生机器鱼的设计与控制研究
其他题名Research on the Design and Control of a Biomimetic Robot Fish Propelled by Undulatory Fins
董翔
2009-05-18
学位类型工学博士
中文摘要仿生机器鱼作为一种新型的水下机器人,具有广阔的应用前景,本文主要针对波动鳍推进仿生机器鱼的设计与控制,从仿生机器鱼的机构和控制电路设计、动力学建模、运动控制方法、自主避障和远程控制等几个方面展开研究工作,文章的主要内容如下: 首先,介绍了鱼类游动的特点和不同推进模式的分类,比较了不同推进模式应用于仿生机器鱼设计的优缺点,对波动鳍仿生机器鱼的研究现状、研究内容和研究方向进行了综述,并对本文的课题来源和结构安排进行了介绍。 其次,在波动鳍推进鱼类形态学和运动学的研究基础上,基于模块化的设计思想,按照本体与推进机构分离的设计方式,设计了波动鳍推进仿生机器鱼机构,并依据机器鱼推进机构的驱动和控制要求,设计了基于FPGA的控制电路,实现了多路电机的驱动与控制。 第三,由机器鱼波动鳍的结构和运动特点建立了波动鳍的运动学和动力学模型,分析了波动运动特征与波动鳍的运动形态和产生的推进力间的关系,在此基础上,由机器鱼运动时的受力情况建立了机器鱼的动力学模型,并分析了推进力和阻力对机器鱼运动的影响。 第四,从仿生机器鱼的机构和运动特点出发,提出了一种基于变结构中枢模式发生器(Central Pattern Generator, CPG )模型的仿生机器鱼运动控制方法。借鉴波动鳍推进鱼类的运动模式分类,通过选择合适的CPG模型参数实现了机器鱼的六种运动模式,通过改变CPG模型的结构和参数实现了机器鱼在不同运动模式间的切换。 第五,通过在机器鱼本体上集成多个红外传感器,利用传感器的输入状态确定机器鱼的运动模式,实现了机器鱼的自主避障;通过环境中的视觉传感器设计了基于全局视觉的仿生机器鱼远程控制系统,利用机器鱼的实时运动图像识别出机器鱼的位置和方向,基于点到点的游动控制算法,实现了机器鱼的远程控制。 最后,对所开展的工作进行了总结,并指出了需要进一步研究的工作。
英文摘要Biomimetic robot fish, as a novel underwater robot, can play an important role in many applications. This thesis focuses on the design and control of the biomimetic robot fish propelled by undulatory fins. Research is carried out on mechanism and control circuit design, dynamics modeling, motion control method, autonomous obstacle avoidance and remote control. The main content of the thesis is described as follows. Firstly, the characteristics of fish’s swimming and the classification of different locomotion modes are introduced. The advantages and weaknesses of different locomotion modes used for biomimetic robot fish design are summarized. The research progress, directions and trend of the biomimetic robot fish propelled by undulatory fins are reviewed. The funds and structure of the thesis are also listed. Secondly, based on the fish morphology, kinematics and modularity design ideology, the mechanism of the biomimetic robot fish is designed with separated body and propulsion mechanism. According to the demand of the drive and control of the propulsion mechanism, a FPGA-based control circuit is designed and realized for the control of multiple motors. Thirdly, according to the structure characteristics and locomotion of the undulatory fin, the kinematics and dynamic models are developed for the undulatory fin. And the relations between the fin’s undulatory motions and shapes and the generated thrust are analyzed. On these bases, the dynamic model o is developed for the robot fish by means of stress analysis. Then the influence of the thrust and resistance on the robot fish motion is analyzed. Fourthly, a motion control method based on variable structure CPG is proposed with considerations of the robot fish mechanism and locomotions. In light of the classification of the motion patterns of fish propelled by undulatory fins, six motion patterns of the robot fish are defined and realized by choosing proper parameters of the CPG model. The switch strategy among different motion patterns is also achieved by altering the structure and parameters of the CPG model. Fifthly, the input status of the infrared sensors integrated on the robot fish are used to determine the robot fish’s motion pattern for realizing autonomous obstacle avoidance of the robot fish. By means of utilizing vision sensor in the environment, a remote control system based on overall vision for the biomimetic robot fish is developed. By utilizing the realtime motion image of the robo...
关键词仿生机器鱼 波动推进 机构设计 动力学建模 变结构cpg控制 Biomimetic Robot Fish Propulsion By Undulatory Fins Mechanism Design Dynamics Modeling MotiOn COntrol Based On Variable-structure Cpg
语种中文
文献类型学位论文
条目标识符http://ir.ia.ac.cn/handle/173211/6147
专题毕业生_博士学位论文
推荐引用方式
GB/T 7714
董翔. 波动鳍推进仿生机器鱼的设计与控制研究[D]. 中国科学院自动化研究所. 中国科学院研究生院,2009.
条目包含的文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
CASIA_20061801462802(7487KB) 暂不开放CC BY-NC-SA
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[董翔]的文章
百度学术
百度学术中相似的文章
[董翔]的文章
必应学术
必应学术中相似的文章
[董翔]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。