基于BCF模式的三关节仿生金龙鱼的设计与验证  

Design and Verification of a Three-joint Bionic Golden Arowana Based on BCF Model

作　　者：唐斌 张宇 唐可欣 赵化民 Tang Bin;Zhang Yu;Tang Kexin;Zhao Huamin(CETC Ocean Information Co.,Ltd.,Lingshui 572400,China;Boya Gongdao(Beijing)Robot Technology Co.,Ltd.,Beijing 101100,China)

机构地区：[1]中电科海洋信息技术研究院有限公司,海南陵水572400 [2]博雅工道(北京)机器人科技有限公司,北京101100

出　　处：《兵工自动化》2024年第10期76-78,共3页Ordnance Industry Automation

摘　　要：为提高仿生系统在水中的机动与续航能力,以金龙鱼为仿生对象并基于身体/尾鳍(body and/or caudal fin,BCF)摆动游动机理设计一种三关节仿生金龙鱼系统。围绕仿生金龙鱼的模块化系统设计、多模态运动、定深定航运动以及水中续航等问题开展研究。通过设计PID控制器,实现仿生金龙鱼的高精度控制以及稳定的定深与定航运动。在实际水环境中对设计的仿生金龙鱼系统进行可行性验证。测试结果表明,该仿生金龙鱼系统具备较好的机动性与稳定性。In order to improve the maneuverability and endurance of bionic system in the water,a three-joint bionic goldfish system was designed based on the body and/or caudal fin(BCF)swimming mechanism.The research focuses on the modular system design,multi-modal motion,fixed-depth and fixed-course motion,and underwater endurance of bionic goldfish.Through the design of PID controller,the bionic goldfish can achieve high precision control and stable fixed depth and navigation movement.The feasibility of the bionic goldfish system designed in this paper is verified in the actual water environment.The test results show that the bionic goldfish system has good maneuverability and stability.

关 键 词：仿生金龙鱼 BCF PID 无线充电 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]