Design and Locomotion Control of a Dactylopteridae-Inspired Biomimetic Underwater Vehicle With Hybrid Propulsion
Design and Locomotion Control of a Dactylopteridae-Inspired Biomimetic Underwater Vehicle With Hybrid Propulsion
复制标题
混合推进仿生水下航行器的设计和运动控制
DOI：
10.1109/tase.2021.3070117
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发表时间：
2021-04-07
影响因子：
5.6
通讯作者：
Tan, Min
中科院分区：
文献类型：
--
作者：
Zhang, Tiandong;Wang, Rui;Tan, Min
介绍了一种新型仿生水下机器人及其运动控制器的设计与实现。通过模仿指龙翅目动物，混合动力BUV设计了两个对称的仿生长鳍和一个双关节鱼尾。首次提出了具有胸部长鳍和双关节鱼尾的指翅目BUV的机电一体化设计。两个灵活的长鳍组成中鳍和/或成对鳍(MPF)推进，而鱼尾则起到身体和/或尾鳍(BCF)推进的作用。通过BCF和MPF推进模式的协调，BUV获得了良好的低速运动稳定性，同时也保持了较高的机动性。提出了基于中心模式产生器(CPGS)模型和模糊自适应比例积分微分(PID)的BUV运动控制方法。最后，通过多模运动和闭环运动控制的实验结果，验证了该机构和运动控制系统的可行性和有效性。
This article presents the design and implementation of an innovative biomimetic underwater vehicle (BUV) and its locomotion controller. Through mimicking a dactylopteridae, the hybrid propulsion BUV is designed with two symmetrical bio-inspired long-fins and a double-joint fishtail. The mechatronic design of the dactylopteridae-inspired BUV with the pectoral long-fins and a double-joint fishtail is first provided. The two flexible long-fins compose the median and/or paired fin (MPF) propulsion, while the fishtail acts as the body and/or caudal fin (BCF) propulsion. Through the coordination of BCF and MPF propulsion modes, the BUV obtains excellent low-speed locomotion stability and also keeps high maneuverability. Moreover, the locomotion control methods based on central pattern generators (CPGs) model and fuzzy adaptive proportion integral differential (PID) are proposed for this BUV. In the end, the experimental results of the multimode motion and closed-loop motion control demonstrate the feasibility and effectiveness of the mechanism and the locomotion control system.