仿生机器鱼适应性游动模式切换的分析.docVIP

Proceedings of the 33rd Chinese Control Conference July 28-30, 2014, Nanjing, China  1  1  1  1  1  1  1.  ,  410073 E-mail: t.j.hu@nudt,edu.cn : / : Analysis on Modes Switch of Bio-robotic Fish Adaptive Swimming MA Zhaowei1, HU Tianjiang1, ZHANG Daibing1, WANG Guangming1, XU Xin1, SHEN Lincheng1 1. College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073 E-mail: t.j.hu@nudt,edu.cn Abstract: Based on the inspiration of fish adaptability, this paper proposed the modes switching strategy for robotic fish to adapt to the different environment. Bio-neural network based on the oscillators is developed to solve the switch problem between different modes, simulating the crucian’s swimming behavior in changeable environment. And this bio-neural network shows its superiority in solving the switching problem. This paper developed the underwater vehicles simulated the body and/or caudal fin mode to verify the continuous switch for robotic fish adapting to the environment. Besides, the experiment and simulated result shows the advantages of bio-neural network in energy consumption and reaction with water flow. Key Words: Bio-robotic Fish; Modes Switch; Neural Network; 1 [1] CFD 2 [2-4]  *  8391  Central Pattern Generator, CPG x y  CPG  ,  CPG  , VLSI  2  2  t/s  x y  Matsuoka 1.1 Hopf  Hopf  Hopf [5-8]  CPGs Rayleigll CPGs  2  Hopf (1) xi  k Ai 2 CPG xi 2  yi 2 x 2 f i yi Hopf  0 x y A cos 2 ft A sin 2 ft 0 0 (2)  yi  k Ai 2  xi 2  yi 2 y 2 f i xi n  ij  y j (1) j 1 xi i  ij k  3 Hopf ii=0 fi yj (2) A f  3  Hopf  4 1.2 Hopf Hopf 1 Hopf  3 t/s  1 y t/s  x  1.3 4 Hopf  1  8  8392 N u Fv i Ai i?n (5) i 1  n?i pi  Nu  Ai Ai pref i F Fp Fv (6)  Fx 5 F Fy (7)  CPG 6 CPG  5 Fz Fx Fy CPG Fz CFD Hopf : 0.5s  xi yi  F (X i ) F (X i ), i 1, 0 xi 1 sin d 6 yi 1 cos  d 6 4s 10s F (X i ) k ( Ai xi 2 2 2 f i y