胸鳍摆动推进模式机器鱼深度控制

Depth control of robotic fish propelled by oscillating paired pectoral fins

提出一种基于专家PID和模糊控制的双闭环深度控制方法,用于实现胸鳍摆动推进模式机器鱼的定深控制.通过控制机器鱼的尾舵摆动角度,可以使机器鱼产生一定的俯仰力矩,从而改变机器鱼的俯仰姿态,实现上浮或下潜运动.给出了机器鱼的相关定深实验,并分析了不同目标深度下俯仰角度初始变化范围存在差异的原因.实验结果表明:本文提出的定深控制方法能够使机器鱼比较准确地稳定在目标深度,以及能够改善机器鱼到达目标深度后稳态游动时的俯仰稳定性,能够较好地实现机器鱼的深度控制.

The double-closed loop depth control method based on expert PID and fuzzy control was proposed, which was used to realize the depth control of robotic fish propelled by oscillating pectoral fins. The pitching moment acting on the robotic fish was produced by the oscillating angle control of the robotic fish＇ s tail rudder. Then the pitch attitude of the robotic fish was changed, and it could achieve the up-and-down motion. Related depth control experiments of the robotic fish were also carried out. The reason that initial ran- ges of pitching angle under different target depth are different was analyzed. The experimental results show that the proposed depth control method can make the robotic fish reach the target depth accurately. After the robot- ic fish arrives in the target depth, the proposed method can also improve the pitching stability when the robotic fish swims in the target depth. The proposed control method can better realize the depth control of the robotic fish.