两类仿鲹科机器鱼倒游运动控制方法的对比研究  

Comparison of Two Methods to Implement Backward Swimming for a Carangiform Robotic Fish

作　　者：吴正兴[1] 喻俊志[1] 谭民[1] 

机构地区：[1]中国科学院自动化研究所复杂系统管理与控制国家重点实验室北京100190

出　　处：《自动化学报》2013年第12期2032-2042,共11页Acta Automatica Sinica

基　　金：国家自然科学基金(61075102);北京市自然科学基金(4102063,4122084)资助~~

摘　　要：给出并比较了两类分别采用鱼体波动方程和中枢模式发生器(Central pattern generator,CPG)控制仿鲹科机器鱼倒游运动的方法.前者主要通过修改鱼体波动方程、颠倒机器鱼各个关节的控制规律来实现鱼体倒游;后者则基于CPG模型,产生各个关节的节律控制信号.基于CPG的倒游方法可进一步细分为两种:1)相位颠倒的CPG控制方法,即通过逆转CPG控制机器鱼直游的相位关系;2)相位–幅值颠倒的CPG控制方法,即通过逆转鱼体波的传播方向和摆动幅值来实现机器鱼倒游.文中针对这两大类、三种机器鱼倒游运动控制方法进行了分析、仿真和实验.实验结果表明:在相同参数配置下,采用相位颠倒的CPG控制方法产生的倒游速度最大,但游动对水的扰动也最大;而采用鱼体波倒游和相位–幅值颠倒的CPG控制方法时,两者产生的最大倒游速度相差不大,扰动较小.此外,采用鱼体波倒游方法在频率切换时会有抖动现象,需要设计专门的过渡函数来消除;而采用CPG模型的方法则可以实现平滑过渡.上述结果对提高水下游动机器人的机动性能具有重要的指导意义.Abstract This paper presents and compares two classes of backward swimming control methods for a biomimetic carangiform robotic fish. One is based on the traditional fish body wave equation, in which the body wave equation is inverted to generate a forward propagated travelling wave. The other is based on the bio-inspired central pattern generator （CPG） controller outputting rhythmic joint signals. The latter can further be divided into two subclasses： 1） phase-inverted CPG control, in which the phase relationship of forward swimming is inverted; 2） phase-amplitude-inverted CPG control, in which both phase relationship and amplitude are reversed. Analysis, simulation, and experiments are carried out on these three backward swimming control methods. Testing results show that the phase-inverted CPG control can result in a maximum backward speed, accompanied with a largest disturbance; the body wave based backward swimming control and phase-amplitude-inverted CPG control may lead to a similar maximum backward speed and smaller disturbance. In addition, when switching the oscillatory frequency in the body wave based backward swimming control, dithering will occur, and a special transition function to eliminate this phenomenon; while the dithering disappears in the CPG-based backward swimming controls. The above results will shed light on the enhancement of the maneuverability of the swimming robots.

关 键 词：仿生机器鱼 倒游控制 中枢模式发生器 鱼体波 对比研究 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]