面向能效优化的攻角反馈机器人智能控制方法  

Intelligent control method of robot based on angle of attack feedback for energy efficiency optimization

作　　者：王天柱 刘佳音 韩松 车洪磊[3] 史聪灵[3] WANG Tianzhu;LIU Jiayin;HAN Song;CHE Honglei;SHI Congling(Beijing Key Laboratory of Metro Fire and Passenger Transportation Safety,China Academy of Safety Science and Technology,Beijing 100012,China;School of Mechanical and Electrical Engineering,China University of Mining and Technology(Beijing),Beijing 100083,China;Ministry of Emergency Management Key Laboratory of Urban Fire Monitoring and Early Warning,China Academy of Safety Science and Technology,Beijing 100012,China)

机构地区：[1]中国安全生产科学研究院北京市地铁火灾与客流疏运安全重点实验室,北京100012 [2]中国矿业大学(北京)机械与电气工程学院,北京100083 [3]中国安全生产科学研究院城市火灾监测预警应急管理部重点实验室,北京100012

出　　处：《智能科学与技术学报》2025年第1期128-138,共11页Chinese Journal of Intelligent Science and Technology

基　　金：国家重点研发计划项目(No.2022YFC3004903);中国安全生产科学研究院基本科研业务费专项资金项目(No.2023JBKY06)。

摘　　要：水生生物能够感知水流状态并及时调节攻角,从而在周期性拍动过程中保持最高的运动效率。生物尾鳍的运动伴随着尾部刚度的变化,同时依赖于尾部肌肉的收缩/松弛。在与外部流体的相互作用中,攻角调节有助于生物在运动中保持最佳攻角,以提高推进性能。基于此,提出了一种基于攻角反馈的仿生机器人高速运动智能控制方法。首先,分析所设计的机器海豚的运动学特性,明确算法的硬件基础;其次,针对尾鳍电机在高频运动时无法与腰关节电机有效协同的问题,提出基于模糊推理的关节角控制算法,实现了尾鳍关节在力矩模式下对期望关节角的跟踪;然后,提出了一种基于攻角反馈的尾关节闭环控制方案以提高运动性能;最后,通过实验验证了所提出的运动控制方法的有效性。Aquatic organisms can sense the flow state and adjust the attack angle in time,thereby maintaining the highest movement efficiency during the periodic flapping process.The biological caudal fin,accompanied by changes in tail stiffness,depends on the contraction/relaxation of tail muscles.In the interaction with external fluid,attack angle adjustment helps organisms maintain the optimal attack angle during the movement to improve propulsion performance.Inspired by this,an intelligent control method for high-speed movement of bionic robots based on attack angle feedback was proposed.Firstly,the kinematic characteristics of the designed robotic dolphin was analyzed to clarify the hardware basis of the algorithm.Secondly,in view of the problem that the caudal fin motor cannot effectively cooperate with the lumbar joint motor during high-frequency movement,a joint angle control algorithm based on fuzzy reasoning was proposed to realize the tracking of the expected joint angle by the caudal fin joint in the torque mode.In addition,a closed-loop control scheme for the caudal joint based on attack angle feedback was proposed to improve movement performance.Finally,the experiments verify the effectiveness of the proposed motion control scheme.

关 键 词：能效优化 攻角反馈 智能控制 仿生机器人 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]