基于波速驱动的机器海豚平均推进速度控制方法  

An Average Propulsive Speed Control Method for a Robotic Dolphin with Wave Velocity Propulsion

作　　者：任光[1] 戴亚平[1] 曹志强[2] 沈飞[3] 

机构地区：[1]北京理工大学自动化学院,北京100081 [2]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 [3]中国科学院自动化研究所精密感知与控制中心,北京100190

出　　处：《自动化学报》2015年第10期1734-1744,共11页Acta Automatica Sinica

摘　　要：通过分析海豚豚体波推进特点,提出了波速与平均推进速度的匹配方法和工程化的速度匹配方程(Speed-velocity matching equation,SVME),并进一步设计了基于速度匹配方程的机器海豚平均速度控制实现方法.首先,分析了海豚尾部摆动时呈现的正弦豚体波特征,指出某一豚体波波速与相应海豚推进平均速度存在严格对应关系,据此给出了速度匹配系数(Speed-velocity matching coefficient,SVMC)定义及速度匹配方程.然后,以三关节尾部机器海豚为例,根据速度匹配关系特征,建立了三关节尾部摆动豚体波波速与推进平均速度的数学关系.最后,基于已知的速度匹配系数分布状况,采用分区线性化处理策略分别设计了开环控制方法和自校正控制实现方法.通过速度匹配系数的取值对机器海豚进行驱动与控制,机器海豚可到达目标平均速度.实验结果表明,豚体波波速与海豚平均速度存在严格对应关系,基于速度匹配系数这一数据驱动的机器海豚速度控制方法是可行的.By analysis of dolphin＇s propulsion characteristics, a speed-velocity matching method and an engineering speed-velocity matching equation （SVME） are proposed to describe the relation between the average propulsive speed and the body wave velocity. Furthermore, driving methods using the speed-velocity matching coefficient （SVMC） are put forward to realize the average speed control of the robotic dolphin. Firstly, the sinusoidal body wave created by the swimming dolphin is analyzed. The corresponding relation between the average propulsive speed and the wave velocity is determined, and the SVMC and the SVME are defined. Then, taking a three-joint caudal fin robotic dolphin as an example, a mathematical relation between the average propulsive speed and the dolphin＇s body wave velocity is determined based on the speed-velocity matching characteristics. Finally, according to the distribution of the SVMCs, an open-loop control method and a self-tuning control method are designed by using a partition linearization policy. The SVMC is taken as a feature data and used to drive the robotic dolphin＇s swimming, as well as to effectively realize the average speed control. The experimental results show a strict matching relation between the average propulsive speed and the dolphin＇s body wave velocity, and that the average speed control method using the SVMC is feasible.

关 键 词：机器海豚 豚体波 速度匹配系数 速度匹配方程 平均推进速度 自校正控制 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]