Method for controlling motion of bionic long-fin undulatory propeller

Abstract

The invention relates to a method for controlling motion of a bionic long-fin undulatory propeller. The method comprises the following steps: aiming at different motion modes of the long-fin undulatory propeller, setting a corresponding control parameter and an initial value; iteratively solving a differential equation of a central pattern generator model by utilizing an Euler method according to the input control parameter and the initial value; calculating a swinging angle of each fin on the long-fin undulatory propeller by utilizing an output amplitude value of the central pattern generator model in the iterative calculation process; and converting the swinging angle into the control quantity of a steering engine for coordinating and controlling a plurality of steering engines on the long-fin undulatory propeller through a pulse width modulation wave generator to enable the long-fin undulatory propeller to generate undulatory motion with stable and continuous rhythm and realize forward, backward, emergent stop, turning and rapid startup. The method is simple, reliable and easy to realize, has small calculation quantity and can meet the real-time requirement of coordinating and controlling a plurality of circuits of the steering engines of the long-fine undulatory propeller.

Description

technical field [0001] The invention belongs to the technical field of electromechanical integration, and relates to a motion control method of an underwater imitation growth fin wave propeller. Background technique [0002] The propulsion methods of fish can be divided into two types, one is the body / caudal fin propulsion method (BCF method): the fish body generates propulsion through the undulating motion of the body or the swinging motion of the caudal fin; the other is odd fin / opposite fin propulsion Mode (MPF mode): The fish body generates propulsion through the movement of odd fins such as dorsal or pelvic fins, or pairs of fins such as pectoral fins. The BCF method has good acceleration performance and high swimming efficiency in the still water environment and high-speed swimming state, while the MPF method has strong flexibility and anti-disturbance in the turbulent flow environment and low-speed movement state, and the swimming efficiency is relatively high. high....

AI Technical Summary

Problems solved by technology

At present, the research on the propulsion method of undulating fins mainly focuses on the design of the mechanism, but there are few detailed introductions on the motion control methods of undulating fins

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