The invention discloses a manta ray-simulated submersible environment adaptation control method, and relates to the technical field of bionic submersible control. According to three different marine environments of water surface, water and water bottom, the shape and flapping parameters of the pectoral fins are adjusted by setting CPG (central pattern generator) parameters on the pectoral fins, and multi-mode motion behaviors of water surface floating, water arch gliding-flapping wing maneuvering and water bottom demersal residence of the manta ray imitating submersible are achieved. Each exercise behavior involved in the method has own typical characteristics, and the optimal behavior corresponding to the environment exists; the action method is planned according to the environment and application requirements, and the manta ray-imitated submersible multi-mode behavior is matched with the environment; and the method is of great significance to self-adaptive control research of manta ray-imitated submersibles.
本发明公开了一种仿蝠鲼潜水器环境适配控制方法,涉及仿生潜水器控制技术领域。根据水面、水中、水底三种不同海洋环境,通过设置胸鳍上的中央模式发生器CPG参数来调整胸鳍形态和扑动参数,实现仿蝠鲼潜水器水面漂浮、水中弓形滑翔‑扑翼机动、水底底栖驻留多模态运动行为。本发明涉及的每种运动行为具有自身典型特点,存在与环境对应的最优行为;针对环境与应用需求规划动作方法,实现仿蝠鲼潜水器多模态行为与环境的适配;对于仿蝠鲼潜水器自适应控制研究具有重要意义。
Manta ray-imitated submersible environment adaptation control method
一种仿蝠鲼潜水器环境适配控制方法
2024-02-13
Patent
Electronic Resource
Chinese
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