机器鱼高精度实时反馈控制系统

High Precision Real-Time Feedback Control System for Robotic Fish

为实现高速和精确的速度控制,设计一种机器鱼高精度实时反馈控制系统。研究仿生机器鱼的推进速度与鱼尾的摆动频率、幅度的关系,以FPGA为主控芯片,完成机器鱼3自由度舵机的控制和实时状态反馈,并与PC决策系统交换数据;将视觉系统采集处理得到的机器鱼实际前进速度作为反馈,与目标速度作差构成闭环,利用PID算法通过控制3自由度舵机的摆动频率和幅度精确控制机器鱼速度,并通过实验得出速度控制曲线和误差曲线。实验结果表明,该系统能完成机器鱼高精度、高稳定度的速度控制。

To achieve high speed and precise control, the article proposes a real-time feedback control system with high precision for robotic fishes. After researching the relationship between the advancing speed and tail beat frequency and amplitude, we utilize FPGA as the master chip to complete the control of 3-DOF servos and the real-time feedback, together with the data exchange with PC decision making system. Specifically, the actual forward speed of robotic fish got by vision system is used as feedback to constitute a closed loop with target speed, followed by precise speed control by controlling the swing frequency and amplitude of the 3-DOF servos on the basis of PID algorithm. Velocity control curve and speed error curve are obtained by experiments, and the results show that the system can control robotic fish with high precision and high stability.