仿生机器鳐鱼多模态运动控制与优化方法研究  

Research on Multi - modal Motion Control and Optimization Method of Bionic Robot Ray

作　　者：陈国军 陈巍 金俊 王志明 CHEN Guojun;CHEN Wei;JIN Jun;WANG Zhiming(Industrial Center,Nanjing Institute of Technology,Nanjing Jiangsu 211167,China;Key Laboratory of Crop Harvesting Equipment Technology of Zhejiang Province,Jinhua Zhejiang 321007,China)

机构地区：[1]南京工程学院工业中心,江苏南京211167 [2]浙江省农作物收获装备技术重点实验室,浙江金华321007

出　　处：《机床与液压》2023年第21期50-55,共6页Machine Tool & Hydraulics

基　　金：江苏省农业科技自主创新资金项目(CX(21)1007);浙江省农作物收获装备技术重点实验室开放课题(2021KY03;2021KY04);教育部产学合作协同育人项目(201801166003)。

摘　　要：鳐鱼使用胸鳍摆动推进,具有稳定性高、隐蔽性强等特点。针对仿生机器鳐鱼复杂水下环境运动控制问题,提出一种基于模糊控制和中枢模式发生器(CPG)的混合控制方法,即Fuzzy-CPG算法。在CPG控制模型基础上引入高层感觉反馈控制机制,并通过模糊控制器来调节CPG参数,实现仿生机器鳐鱼的多模态运动控制。通过直线前游、原地转弯和动态沉浮试验,在不同的Fuzzy-CPG控制器初始参数下,分析仿生机器鳐鱼多模态运动的性能,通过姿态传感器的反馈验证各模态运动下仿生机器鳐鱼游动的稳定性。试验结果表明:Fuzzy-CPG运动控制方法不仅能实现仿生机器鳐鱼多模态运动,且具有良好的鲁棒性。The ray uses the pectoral fin to swing and propel,which is characterized by high stability and strong concealment.A hybrid control method based on fuzzy control and central pattern generator(CPG),namely fuzzy-CPG algorithm,was proposed to control the motion of the bionic robot ray in the complex underwater environment.Based on the CPG control model,a high-level sensory feedback control mechanism was introduced,and the parameters of the CPG were adjusted by a fuzzy controller to achieve multi-mode motion control of the bionic robot ray.The performance of the bionic robot ray multi-modal motion under different initial parameters of the Fuzzy-CPG controller was analyzed through straight ahead swimming,in-situ turning and dynamic sinking and floating tests.The stability of the bionic robot ray swimming under various modes of motion was verified through the feedback of the posture sensor.The test results show that the Fuzzy-CPG motion control method can not only realize the multi-mode motion of the bionic robot ray,but also has good robustness.

关 键 词：仿生鳐鱼 模糊控制 Fuzzy-CPG运动控制 多模态运动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]