仿生机器鱼高效推进的主动/被动控制机理研究

项目名称： 仿生机器鱼高效推进的主动/被动控制机理研究

项目编号： No.61203353

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 徐东

作者单位： 北京航空航天大学

项目金额： 24万元

中文摘要： 深入研究了仿生机器鱼的推进机理和控制方法，针对现有机器鱼推进效率低下、续航时间短的关键问题，提出了一种高效推进的主动/被动控制方法；首次从负功角度讨论机器鱼的运动参数、刚度和推进效率之间的关系，引入虚拟肌肉的柔顺控制思想，融合主动规划和被动调节，提高机器鱼的推进效率。课题以生物鱼游动中肌肉的负功状态所揭示的推进机理为基础，在自主推进测试平台的实验条件下，研究关节电机的变刚度驱动方法、机器鱼负功状态的模型辨识以及主动/被动柔顺控制算法；并针对提出的算法开发虚拟肌肉的变刚度驱动器和基于FPGA多异质阵列的主-从结构控制系统，建立基于负功的高效推进知识库，设计自由游动机器鱼样机平台进行算法优化和实验验证。项目的主要意义是探索新的控制思路及相应的研究方法，以求在关键技术上有所突破和创新，并推动仿生机器鱼技术和相关学科的研究和发展。

中文关键词： 机器鱼；高效推进；变刚度；负功；柔顺控制

英文摘要： By deeply analyzing the propulsion mechanism and the conventional control algorithm of the biomimetic robotic fish, we now propose an active/passive control strategy with high-efficient propulsion, which aims at obtaining high thrust efficiency and improving the cruising ability of the robotic fish. The relationship among the thrust performance, the stiffness and the thrust efficiency of the robotic fish is first discussed from the perspective of negative work. Then we introduce a compliant control algorithm based on the virtual muscle, which combines the active plan and the passive adjustment, to improve the thrust efficiency. This project is based on the propulsion mechanism revealed from the negative work of the muscle in real fish. With the aid of a novel self-propulsion test bench, some researches, including the variable stiffness driving method of the actuator, the negative work model of the robotic fish and the active/passive compliant control strategy, are studied. Meanwhile the actuator with variable stiffness, the control system based on FPGA and the high thrust efficiency knowledge database based on the negative work are designed in this project. At last, the free-swimming platform of the robotic fish is designed to optimize the parameter and validate the control strategy proposed above. In this proje

英文关键词： Robotic Fish；High Thrust Efficiency；Stiffness Adjusting；Negative Power；Compliant Control