仿生机器鱼建模与软硬件实现的研究控制科学与工程专业论文.docx

IV IV Abstract Traditional propulsion method has many disadvantages. Fish has advanced propulsion method， which has characteristic of high speed ， high efficient, excellent maneuvering performance，low noise etc. So the biomimic robot fish has been made to research the real fish’s propulsion method. The contents of its research have important significance，latent military and economical value. This paper analyses and summarizes the research literature of robot fish, studies the robot fish’s bionic motions, its integrated design and realized technologies. Robot fish has many configurations. Comparing the robot fish from different universities and nations, this paper takes the fish of Carangiform as the mimetic object. Through the design of structure in series and the bionics study to the principle of Carangiform’s propulsion and the robot fish’s main body mechanism that has three degrees of freedom tail fin. At the same time，the parameterized mathematical model of three-hinged propulsion system is established. The kinematics analysis，dynamics analysis to the propulsion process and preliminary hydrodynamics analysis to the tail fin have been completed. The dynamics equations to the propulsion system have been established. It is established and analyzed the dynamic model of robotic-fish through the theory of planar wave plank. On the basis of the dynamic model, the control method can be designed. According to the robot fish’s motions characteristic，the author designs hardware of robot fish’s control system based on the AVR microcontroller， including the control of motor, the serial communication circuit，the remote control circuit for transmitting and receiving，etc，establishes the entire platform for controlling propulsion system and debugs the hardware circuit of control V V system. Meanwhile，the basic PID control algorithm and the Decision Tree Algorithm for motions control is developed according to the control strategy based on C language.