The invention relates to the technical field of underwater control and discloses a bionic robotic fish navigation state smooth switching method. The method comprises the following steps of calculatinga to-be-switched rotation angle of a flapping motor by using a central pattern generator (CPG); the distance between the crankshaft with any section and the torsion shaft being determined to be equalto the rotating radius of the crankshaft; calculating a to-be-switched rotation angle of the torsion motor by using the CPG; and controlling the flapping motor to move according to the calculated to-be-switched rotation angle of the flapping motor, and controlling the torsion motor to move according to the calculated to-be-switched rotation angle of the torsion motor. Therefore, when a navigationstate of the bionic robotic fish is changed, the running states of the flapping motor and the torsion motor can be smoothly switched, so the pectoral fin is in smooth transition between two differentstates, and the tremor phenomenon when the different states of the bionic robotic fish are switched is avoided.
本发明涉及水下控制技术领域,公开了一种仿生机器鱼航行状态平滑切换方法。该方法包括:利用中枢模式发生器CPG计算拍动电机的待切换转动角度;将任意一个截面曲轴与扭转轴之间的距离确定为与曲轴的转动半径相等;利用CPG计算扭转电机的待切换转动角度;根据所计算的拍动电机的待切换转动角度控制拍动电机运动,根据所计算的扭转电机的待切换转动角度控制扭转电机运动。由此,可以保证仿生机器鱼航行状态发生改变时,拍动电机及扭转电机的运行状态实现平滑切换,从而使胸鳍在两个不同状态之间平滑过渡,解决了仿生鱼不同状态切换时的震颤现象。
Bionic robotic fish navigation state smooth switching method
仿生机器鱼航行状态平滑切换方法
2021-03-30
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |