水上行走机器人智能控制方法研究及仿真  

Study and Simulation of Intelligent Control Methods Based Robot Walking on Water

作　　者：魏鲜明[1,2] 徐林森[2] 赵江海[2] 曹凯 张文举 

机构地区：[1]中国科学技术大学 [2]中国科学院合肥物质科学研究院 [3]常州先进制造技术研究所 [4]71352部队保障部

出　　处：《系统仿真学报》2014年第1期163-168,共6页Journal of System Simulation

基　　金：国家自然科学基金(50905175);国家重点基础研究发展计划项目(2011CB302106)

摘　　要：以蛇怪蜥蜴为对象,研究其水上行走功能。通过分析蛇怪蜥蜴水上行走机理,建立了水上行走机器人虚拟样机。通过机电系统联合仿真,得到了水上行走机器人的非线性模型。由于水面环境的复杂性及特殊性,传统的基于模型的精确运动学求解方法无法适用。因此设计了中枢模式发生器(CPG)-模糊控制与CPG-PID两种智能控制算法,并比较了两种控制算法的性能。仿真结果分析表明,这两种算法均能满足机器人水上行走过程中的控制要求。Basilisk lizards were known for their ability to run across water. The feature walking on water was developed. The virtual prototype of robot walking on water based on analysis about basilisk lizards was established. By electro-mechanical system co-simulation, the nonlinear model of the robot was got. As the complexity and particularity of water environment, the traditional model-based exact kinematic solution method was not applied. CPG-fuzzy control and CPG-PID control were mainly studied. These two control algorithms have their own characteristics. The simulation results show that these two algorithms can meet the control requirements of robot walking on water.

关 键 词：水上行走机器人 中枢模式发生器 CPG-模糊控制 CPG-PID控制 联合仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]