SPC系列仿生机器鱼的高频拍动

High-frequency flapping of SPC series bionic robofish

着重介绍了SPC系列机器鱼采用的三种高频拍动控制算法,分析了每种控制方法的局限性。实验获得高频拍动曲线并加以对比分析,总结伺服拍动方式在高频拍动时仍存在的问题。提出用机械结构运动模拟机器鱼尾鳍拍动的解决方案,并通过仿真进行了验证。

Three high frequency flapping control algorithms of SPC series bionic robofish was chiefly introduced and its limitations analysed. Tail fin flapping curves of three generations are obtained via experiments and contrasted to each other, Problems still esisting in servocontrol of high-frequency flapping are summed up. The project using mechanism structure to simulate tail fin flapping is finally put forward, which is validated by simulation.