基于CPG和模糊控制的机器鱼定向游动精确控制方法  

Precise Control Method for Directional Swimming of a Robotic Fish Based on CPG and Fuzzy Control

作　　者：和岩辉 胡桥[1,2,3] 王朝晖[1,2,3] 余雷 陈振汉 李怡昕 HE Yan-hui;HU Qiao;WANG Chao-hui;YU Lei;CHEN Zhen-han;LI Yi-xin(School of Mechanical Engineering,Xi’an Jiao Tong University,Xi’an 710049,China;State Key Laboratory of Manufacturing Systems Engineering,Xi’an Jiao Tong University,Xi’an 710049,China;Shaanxi Key Laboratory of Intelligent Robots,Xi’an Jiao Tong University,Xi’an 710049,China)

机构地区：[1]西安交通大学机械工程学院,陕西西安710049 [2]西安交通大学机械制造系统工程国家重点试验室,陕西西安710049 [3]西安交通大学陕西省智能机器人重点试验室,陕西西安710049

出　　处：《水下无人系统学报》2021年第1期39-47,共9页Journal of Unmanned Undersea Systems

基　　金：国家自然科学基金重大项目(61890961);装备预研领域基金项目(61404160503,61402070304);陕西省重点研发计划重点项目资助(2018ZDXM-GY-111).

摘　　要：机器鱼在水下执行探测等作业任务时,其游动方向的精准性会受到波浪、漩涡等因素的影响,致使其无法完成相应任务。为解决机器鱼游动方向的精准性问题,文中基于中枢模式发生器(CPG)理论结合模糊控制器提出了一种可以实现仿鲹科机器鱼定向游动的精确控制方法。首先利用Hopf振荡器构建基于极限环的机器鱼CPG模型,在机器鱼游动前期,采用小摆幅高频率的CPG控制信号以获得较大推进力,后期则采取大摆幅低频率的CPG信号实现稳定游动;然后,根据姿态传感器获取机器鱼的航姿角度信息,利用模糊控制器实时修正机器鱼与目标方向的偏差。通过机器鱼的定向游动及抗干扰试验,验证了该方法的可行性和有效性,表明其在机器鱼进行复杂环境下精准方向游动中具有广阔的应用前景。Robotic fish detection under water,waves,vortices,etc.can affect the accuracy of the swimming direction of a robotic fish,making it virtually for corresponding tasks to be completed.To solve the problem of ensuring the accuracy of the swimming direction of robotic fish,this study proposes an accurate control method based on the central pattern generator(CPG)theory and fuzzy controller.The proposed method can realize the directional swimming of a robotic fish of the genus Plover.In this method,a Hopf oscillator is used to build a CPG model of a robotic fish based on a limit cycle.In the early stage of robotic fish swimming,a small swing high-frequency CPG control signal is used to obtain a large propulsion force,and a large swing low-frequency CPG signal realizes stable swimming.Then,the attitude angle information of the robotic fish is obtained based on an attitude sensor,and the deviation of the robotic fish from the target direction is corrected in real time using the fuzzy controller.Finally,directional swimming and anti-interference experiments of the robotic fish are conducted to verify the feasibility and effectiveness of the precise directional swimming method.Results show that the proposed method has broad application prospects for precise directional swimming of robotic fish in complex environments.

关 键 词：机器鱼 中枢模式发生器 模糊控制 定向游动 精确控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273.4