电磁驱动机器鱼实验平台的设计

Design of Electromagnetic Drive Robot Fish Experiment Platform

这里首先分析了电磁驱动器工作原理,使用Maxwell软件对电磁驱动器建模并对通电线圈进行电磁仿真和动力学仿真得到通电线圈的运动规律,从而证明了以电磁驱动器作为动力源驱动机器鱼的可行性。基于读表法编写了用于控制电磁驱动器运动的正弦波程序,并结合驱动电路完成控制系统设计。最后完成电磁驱动机器鱼结构细节设计并开展水下游动实验,得出不同电压幅值和频率下机器鱼实验平台游动参数。

Firstly,it analyzed the working principle of electromagnetic actuator.Then,Maxwell software was used to model the electromagnetic actuator,and electromagnetic simulation and dynamic simulation of electric coils were conducted to obtain the motion characteristics of electric coils,thus proving that it is feasible to use electromagnetic actuator as the power source for driving the robofish.In addition,based on the table reading method,a sine wine program for controlling the motion of the electromagnetic actuator was compiled in this paper,and the design of the control system was completed by combining the driver circuit.Finally,the details of the structure design of the electromagnetic driven robofish was completed and underwater swimming test was conducted to obtain the swimming parameters of the robofish experimental platform under different voltage amplitude and frequency rate.