机器鱼电磁舵机设计与控制系统的研究

Design of Electromagnetic Steering Gear and Control System of Robotic Fish

电磁驱动具有结构精简、无污染、可靠性高和驱动力大的优点,更重要的是可以应用理论成熟并广泛使用的经典控制方法实现精确的过程控制。机器鱼的尺寸有限,内部空间狭小,电磁舵机不需要复杂的传动机构,可方便地应用于机器鱼当中。根据机器鱼模型的要求,合理设计了电磁舵机的结构;利用AnsoftMaxwell有限元分析软件对电磁舵机进行了仿真,得出其输入电流与输出电磁力的关系;通过MATLAB/SimMechanics对机器鱼模型进行分析,提出了电磁舵机的控制方法,并绘制了控制系统原理图,对于机器鱼的驱动和控制具有一定的意义。

Electromagnetic drive has the advantages of compact structure,no pollution,high reliability and large driving force,and the more importance is that mature theory and widely used classical control method can be applied to realize the process of precise control.The size of the robotic fish is limited and the internal space is narrow,but the steering gear does not need complex electromagnetic actuator,which can be easily applied to robotic fish.According to the requirement of the robotic fish model,the structure of the electromagnetic steeringgear is designed reasonably.The electromagnetic steering gear is simulated with AnsoftMaxwell finite element analysis software,to get the relationship between input current signals and output electromagnetic force signals.The model of robotic fish is analyzed by use of MATLAB/SimMechanics,and the control method of electromagnetic steering gear is proposed,and the principle diagram of the control system is drawn.Above all has great significance to the drive and control of robotic fish.