水下蛇形机器人建模与运动控制  

Modeling and Motion Control of Underwater Snake Robot

作　　者：李佩娟[1] 杨刚 郭铁铮 鲁洋 LI Peijuan;YANG Gang;GUO Tiezheng;LU Yang(Engineering Training Center/School of Applied Technology,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院工程训练中心/应用技术学院,江苏南京211167

出　　处：《水下无人系统学报》2024年第6期1091-1099,共9页Journal of Unmanned Undersea Systems

摘　　要：针对水下蛇形机器人在复杂水下环境自主游动难问题,设计了一种水下蛇形机器人机构。基于蛇类运动机理建立运动学模型,提出一种基于模糊控制和中枢模式生成(CPG)的运动控制方法,通过对单个Hopf振荡器模型中极限环的稳定性进行分析,搭建由多个Hopf振荡器构建形成的具有双耦合链条网拓结构的CPG模型,引入模糊控制器与CPG模型一起构成闭环控制网络。对水下蛇形机器人进行仿真和实验结果表明,样机可实现直线蜿蜒运动、左右转弯运动和U型运动实验,在3种运动模式中,水下蛇形机器人不仅拥有良好的稳定性,而且能够保持优越的灵活性与机动性。To address the autonomous swimming difficulty of an underwater snake robot in a complex underwater environment,this study designed an underwater snake robot mechanism.A kinematic model was established based on the snake motion mechanism,and a motion control method based on fuzzy control and a central pattern generator(CPG)was proposed.The CPG model was constructed by several Hopf oscillators with double-coupled chain network structure after the stability analysis of the limit cycle in a single Hopf oscillator model,and a fuzzy controller and the CPG model were introduced to form a closed-loop control network.The simulation and experiment of an underwater snake robot were carried out.The prototype can complete the experiments of linear meandering movement,left and right turning movement,and U-shaped movement.The experimental results show that the underwater snake robot not only has good stability but also can maintain superior flexibility and maneuverability in the three motion modes.

关 键 词：水下蛇形机器人 模糊控制器 中枢模式生成 运动控制 

分 类 号：TJ630.1[兵器科学与技术—武器系统与运用工程] U661.334[交通运输工程—船舶及航道工程]