仿生机器鱼的控制系统设计与实验研究
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进行了遥控控制机器鱼实现加减速、转弯、升潜三维动作的水下试验。 加减速试验论证了尾鳍摆动频率、尾鳍后缘最大摆幅以及尾鳍的最大击水角 度对鱼体速度的影响；转弯试验测得了机器鱼惯性前进转弯和静止转弯时的 转弯半径；在机器鱼的升潜试验中论证了胸鳍不同转角对升潜运动的影响。 关键词 仿生机器鱼；PWM；运动学分析；C8051
-I-
哈尔滨工业大学工学硕士学位论文
Abstract
For a long time, Fish-like robot always is a research focus on the bionic scientific research field. One of the research branches is fish-like robot that imitates tunny’s swimming mode. It has high capabilities of propulsion and high maneuverability. Now it can be used in the underwater environment for a long time, with wide-range performance. Moreover, it can be used for the ocean observation and life saving. It has very high value of application. This task depends on the National Natural Science Fund on the research foundation of the predecessor, has developed system overall research of Fish-like robot.
所 在 单 位： 机电工程学院
答 辩 日 期： 2006 年 6 月
wk.baidu.com
授予学位单位： 哈尔滨工业大学
Classified Index：TJ610.2 U.D.C.: 681.14
Dissertation for the Master Degree in Engineering
CONTROL SYSTEM DESIGN AND EXPERIMENTAL STUDY ON FISH-LIKE
Mechatronics Engineering School of Mechatronics Engineering June, 2006
Harbin Institute of Technology
哈尔滨工业大学工学硕士学位论文
摘要
长期以来，仿生机器鱼一直是仿生科研领域的一个研究热点，其中一个 研究分支是模仿金枪鱼等鯵科加新月形尾鳍推进模式的仿生机器鱼，其特点 是能源利用率高，推进速度快，适于长时间、大范围的水下作业。仿生推进 技术对海洋考察、救生以及军事领域具有很高的应用价值。本课题依托国家 自然基金项目“仿鱼鳍水下推进器的理论与实验研究”在前人机器鱼研究的 基础上，开展了对鯵科加新月形尾鳍的仿生机器鱼的系统总体研究。
第 1 章 绪论................................................................................................................ 1 1.1 引言................................................................................................................... 1 1.2 鱼类推进模式及分类....................................................................................... 2 1.3 仿生机器鱼技术的研究概况........................................................................... 3 1.3.1 国外仿生机器鱼的研究现状.................................................................... 3 1.3.2 国内仿生机器鱼研究现状........................................................................ 5 1.4 本课题的研究目标和研究内容....................................................................... 7
第 2 章 仿鲹科加新月形尾鳍机器鱼的仿生学研究................................................ 8 2.1 引言................................................................................................................... 8 2.2 仿生机器鱼的推进机理及参数描述............................................................... 8 2.2.1 鱼体运动.................................................................................................... 8 2.2.2 尾鳍运动.................................................................................................... 9 2.2.3 影响尾鳍运动的参数.............................................................................. 10 2.2.4 鱼类回转运动.......................................................................................... 13 2.2.5 鱼类升潜运动.......................................................................................... 13 2.3 运动学模型建立及分析................................................................................. 14 2.3.1 运动学模型的建立.................................................................................. 14 2.3.2 运动学分析.............................................................................................. 16 2.4 动力学模型建立及分析................................................................................. 17 2.4.1 阻力分析.................................................................................................. 18 2.4.2 推力分析.................................................................................................. 19 2.5 推进效率分析................................................................................................. 20 2.6 本章小结......................................................................................................... 21
Keywords fish-like robot; PWM; kinematics analysis; C8051
- II -
哈尔滨工业大学工学硕士学位论文
目录
摘要 ............................................................................................................................... I Abstract ....................................................................................................................... II
ROBOT
Candidate： Supervisor： Academic Degree Applied for： Specialty： Affiliation： Date of Oral Examination： University：
Dai Po Prof. Chen Weishan Master of Engineering
工学硕士学位论文
仿生机器鱼的控制系统设计与实验研究
戴坡
哈尔滨工业大学
2006 年 6 月
图书分类号：TJ610.2 U.D.C.: 681.14
工学硕士学位论文
仿生机器鱼的控制系统设计与实验研究
硕 士 研 究 生： 戴 坡
导
师： 陈维山 教授
申 请 学 位： 工学硕士
学 科 、 专 业： 机械电子工程
通过对鯵科加新月形尾鳍推进模式鱼类的仿生学研究，设计了单电机驱 动两关节联动的尾鳍推进仿生金枪鱼，以胸鳍作为升降舵实现机器鱼的上浮 和下潜，还可实现惯性前进转弯和静止转弯。建立了参数化的两关节尾鳍推 进模式的数学模型，并对推进过程进行了运动学和动力学分析。
针对仿生机器鱼的运动特点，设计了基于 C8051 单片机的机器鱼硬件 控制系统，建立整个推进系统的硬件控制平台，并进行了基于 C 语言的下 位机嵌入式控制软件的开发,完成了控制程序的编写和调试。
According to the robot fisn’s motions, the author has designed hardware of robot fish’s control system based on C8051 microcontroller, has established the hardware platform to the entire propulsion system, has developped control software based on C language. The procedure has been compiled and debugged.
we have carried on the submarine experiment which control robot fish realize the three dimensional movement: speedup-deceleration, swerve, moving up and down. The test proves that the caudal fin oscillation frequency, the maximum amplitude of vibration of caudal fin，the caudal fin strikes the water angle influence the fish’s speed; The curve experiment has obtained curve radius of inertia advance curve and static curve; The ups and downs experiment proves that the pectoral fin on different angle influences the fish to move ups and downs.
Through the fundamental academic research of tunny’s swimming mode, the single motor-driven-robot fish has been designed, which has two joints taking pectoral fins as an elevator to make the fish-like robot moving up and down, Moreover it can achieve the inertia swerve and the static swerve. The parameterized mathematical model of double-hinged system has been established. The kinematics and dynamics analysis to the propulsion processe have been established. The kinematics and dynamic equation have been established.
-I-
哈尔滨工业大学工学硕士学位论文
Abstract
For a long time, Fish-like robot always is a research focus on the bionic scientific research field. One of the research branches is fish-like robot that imitates tunny’s swimming mode. It has high capabilities of propulsion and high maneuverability. Now it can be used in the underwater environment for a long time, with wide-range performance. Moreover, it can be used for the ocean observation and life saving. It has very high value of application. This task depends on the National Natural Science Fund on the research foundation of the predecessor, has developed system overall research of Fish-like robot.
所 在 单 位： 机电工程学院
答 辩 日 期： 2006 年 6 月
wk.baidu.com
授予学位单位： 哈尔滨工业大学
Classified Index：TJ610.2 U.D.C.: 681.14
Dissertation for the Master Degree in Engineering
CONTROL SYSTEM DESIGN AND EXPERIMENTAL STUDY ON FISH-LIKE
Mechatronics Engineering School of Mechatronics Engineering June, 2006
Harbin Institute of Technology
哈尔滨工业大学工学硕士学位论文
摘要
长期以来，仿生机器鱼一直是仿生科研领域的一个研究热点，其中一个 研究分支是模仿金枪鱼等鯵科加新月形尾鳍推进模式的仿生机器鱼，其特点 是能源利用率高，推进速度快，适于长时间、大范围的水下作业。仿生推进 技术对海洋考察、救生以及军事领域具有很高的应用价值。本课题依托国家 自然基金项目“仿鱼鳍水下推进器的理论与实验研究”在前人机器鱼研究的 基础上，开展了对鯵科加新月形尾鳍的仿生机器鱼的系统总体研究。
第 1 章 绪论................................................................................................................ 1 1.1 引言................................................................................................................... 1 1.2 鱼类推进模式及分类....................................................................................... 2 1.3 仿生机器鱼技术的研究概况........................................................................... 3 1.3.1 国外仿生机器鱼的研究现状.................................................................... 3 1.3.2 国内仿生机器鱼研究现状........................................................................ 5 1.4 本课题的研究目标和研究内容....................................................................... 7
第 2 章 仿鲹科加新月形尾鳍机器鱼的仿生学研究................................................ 8 2.1 引言................................................................................................................... 8 2.2 仿生机器鱼的推进机理及参数描述............................................................... 8 2.2.1 鱼体运动.................................................................................................... 8 2.2.2 尾鳍运动.................................................................................................... 9 2.2.3 影响尾鳍运动的参数.............................................................................. 10 2.2.4 鱼类回转运动.......................................................................................... 13 2.2.5 鱼类升潜运动.......................................................................................... 13 2.3 运动学模型建立及分析................................................................................. 14 2.3.1 运动学模型的建立.................................................................................. 14 2.3.2 运动学分析.............................................................................................. 16 2.4 动力学模型建立及分析................................................................................. 17 2.4.1 阻力分析.................................................................................................. 18 2.4.2 推力分析.................................................................................................. 19 2.5 推进效率分析................................................................................................. 20 2.6 本章小结......................................................................................................... 21
Keywords fish-like robot; PWM; kinematics analysis; C8051
- II -
哈尔滨工业大学工学硕士学位论文
目录
摘要 ............................................................................................................................... I Abstract ....................................................................................................................... II
ROBOT
Candidate： Supervisor： Academic Degree Applied for： Specialty： Affiliation： Date of Oral Examination： University：
Dai Po Prof. Chen Weishan Master of Engineering
工学硕士学位论文
仿生机器鱼的控制系统设计与实验研究
戴坡
哈尔滨工业大学
2006 年 6 月
图书分类号：TJ610.2 U.D.C.: 681.14
工学硕士学位论文
仿生机器鱼的控制系统设计与实验研究
硕 士 研 究 生： 戴 坡
导
师： 陈维山 教授
申 请 学 位： 工学硕士
学 科 、 专 业： 机械电子工程
通过对鯵科加新月形尾鳍推进模式鱼类的仿生学研究，设计了单电机驱 动两关节联动的尾鳍推进仿生金枪鱼，以胸鳍作为升降舵实现机器鱼的上浮 和下潜，还可实现惯性前进转弯和静止转弯。建立了参数化的两关节尾鳍推 进模式的数学模型，并对推进过程进行了运动学和动力学分析。
针对仿生机器鱼的运动特点，设计了基于 C8051 单片机的机器鱼硬件 控制系统，建立整个推进系统的硬件控制平台，并进行了基于 C 语言的下 位机嵌入式控制软件的开发,完成了控制程序的编写和调试。
According to the robot fisn’s motions, the author has designed hardware of robot fish’s control system based on C8051 microcontroller, has established the hardware platform to the entire propulsion system, has developped control software based on C language. The procedure has been compiled and debugged.
we have carried on the submarine experiment which control robot fish realize the three dimensional movement: speedup-deceleration, swerve, moving up and down. The test proves that the caudal fin oscillation frequency, the maximum amplitude of vibration of caudal fin，the caudal fin strikes the water angle influence the fish’s speed; The curve experiment has obtained curve radius of inertia advance curve and static curve; The ups and downs experiment proves that the pectoral fin on different angle influences the fish to move ups and downs.
Through the fundamental academic research of tunny’s swimming mode, the single motor-driven-robot fish has been designed, which has two joints taking pectoral fins as an elevator to make the fish-like robot moving up and down, Moreover it can achieve the inertia swerve and the static swerve. The parameterized mathematical model of double-hinged system has been established. The kinematics and dynamics analysis to the propulsion processe have been established. The kinematics and dynamic equation have been established.