基于仿脊髓网络的咽颌模式仿生胸鳍协调控制

Coordinated Control of Bionic Pectoral Fins in Labriform Mode Based on Artificial Spinal Cord Networks

根据所研制的咽颌模式仿生胸鳍的结构和驱动特点以及操纵运动的特征,构建了咽颌模式仿生胸鳍的仿脊髓控制网络.首先,根据咽颌模式推进时左右胸鳍的协调运动特点,构建左右仿生胸鳍仿脊髓控制网络之间的拓扑连接关系,实现左右仿生胸鳍的协调控制.然后,利用Matlab对仿脊髓控制网络在咽颌模式仿生胸鳍推进运动形态产生和左右胸鳍协调控制方面的性能进行仿真分析,并对比仿真结果与观测结果,发现两者非常吻合,从而证明了所构建的咽颌模式仿生胸鳍的结构和驱动方式及其仿脊髓控制网络是合理的,能够反映硬骨鱼胸鳍的操控机理,并且左右胸鳍的协调控制也具有较好的仿生性能.这些研究为高性能咽颌模式推进系统的研制、咽颌模式推进机理和神经肌肉控制机理等方面的研究提供了基础.

According to the structure, driving properties and maneuvering properties of the developed bionic pectoral fin in labriform mode, the artificial spinal cord control networks for the bionic pectoral fin in labriform mode are designed. Firstly,the topological connection relations between the artificial spinal cord networks of the left and right bionic pectoral fins are constructed based on the coordinated motion properties of the left and right bionic pectoral fins in labriform mode to implement the coordinated control of the left and right bionic pectoral fins. Then, the Matlab is used to simulate the performances of the artificial spinal cord network in generating the propulsion morphology of pectoral fin and controlling the coordinated motion between the left and right bionic pectoral fins. The simulation results are consistent with the observation results,proving that the structure and driving system of bionic pectoral fin in labriform mode as well as the built artificial spinal cord control networks are reasonable, and can reflect the maneuver and control mechanism of the pectoral fins of the teleost. In addition, the coordinated control of the bionic pectoral fins shows excellent biological properties. It lays foundation for the development on the high-performance propulsion system in labriform mode and the research on the propulsion mechanism and neuromuscular control mechanism in labriform mode.