Bionic machine fish depth control method based on mass centre changing

Abstract

The invention provides a biomimetic robot fish depth control method based on gravity-changing, relating to the biomimetic robot fish field and adopting a gravity-changing device to realize rising, diving and depth-control in a moving process in virtue of the propelling force of the biomimetic robot fish. The present depth information h is calculated according to a pressure sensor and the depth deviation e, deviation changing rate de and deviation integral ie are calculated with an appointed depth hd to get an output theta a of a PID controller, and then the output is combined with a distortion compensation-dosage sigma to get a controlled variable of gravity-changing to keep the biomimetic robot fish in a certain depth by timely regulation. The invention can effectively avoid the impact of depth on the biomimetic robot fish and can realize accurate control, thus providing technical guarantee for underwater detection, ocean territory defense, ocean resource exploitation and underwater saving, etc. for the biomimetic robot fish.

Description

technical field [0001] The invention relates to the technical field of bionic robotic fish, in particular to a method for controlling the depth of bionic robotic fish based on center of gravity change. Background technique [0002] With the development of marine development business, underwater robots have attracted people's attention. Underwater robots can replace humans to complete a large number of tasks, such as exploration of marine resources, underwater salvage, etc. With the increasing complexity of applications and diversification of tasks, people hope that the ability of underwater robots can be further improved, which has accelerated the process of underwater robot research. Inspired by the high efficiency, high mobility, and high adaptability of fish, on the basis of in-depth exploration of its movement mode, characteristics, and mechanism, combined with control, electronics, materials, machinery and other disciplines, the principles of bionics are applied to und...

AI Technical Summary

Problems solved by technology

These methods differ in mechanism complexity and control effect, and each has advantages and disadvantages.

According to the existing research work, most of the bionic robot fish use the pectoral fin method, and other methods are also used. At the same time, most of the research focuses on the realization of snorkeling movement. For the real-time adjustment of the bionic robot fish posture to maintain it at a certain depth relatively little research

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