摘要
鱼类波动鳍推进模式具有流体扰动小、可产生矢量推力并且易于向水下机器人移植等显著优点,为未来水下机器人的仿生设计提供了新的选择,具有广阔的应用前景和理论研究价值。本文以波动鳍推进模式为研究对象,提出将模仿鱼类波动鳍结构、运动特征及推进功能的仿生波动鳍作为基本推进单元设计水下机器人推进控制系统的基本思想。论文主要围绕“基于多波动鳍推进的仿生水下机器人”仿生设计、多鳍推进控制系统动力学建模、多鳍协同波动推进控制技术三方面展开研究,主要研究内容及创新点如下:
1.提出了“基于多波动鳍推进的仿生水下机器人”设计方案。论文在国内率先研究波动鳍仿生推进方式并将其应用于水下机器人的推进控制系统设计。基于四鳍正交平行配置结构的多波动鳍推进控制系统设计方案在原理上能够通过四条仿生鳍的波动主动产生沿载体轴向的推进力和用于姿态控制的偏航力矩与俯仰力矩,并且推进力与操控力矩的大小与方向可以通过改变仿生鳍波动参数及多鳍之间波动运动的协同关系进行控制。这种不依赖于任何舵翼装置主动产生推进力与操控力矩的能力不仅能够用于水下航行器的推进与姿态控制,而且有利于增强载体的低速稳定性和快速机动能力。基于波动鳍推进模式的多鳍推进控制系统设计方案为水下机器人的仿生设计提供了一个新的思路和选择。
2.根据波动鳍的仿生学研究结果,并基于流体力学中的阻力模型,建立了波动鳍运动学模型与动力学模型。波动鳍运动学模型综合考虑了鳍面基线形态与运动特征、鳍面静态形状、鳍条运动规律、鳍面纵向与侧向位移等因素,能够用统一的数学形式描述波动鳍的形态特征与运动特征,具有较强的适应性。波动鳍动力学模型能够揭示波动鳍波动产生的六分量流体动力/力矩与鳍面波动参数、几何参数以及随载体运动速度之间的基本关系,并用于建立多波动鳍推进控制系统动力学模型以及分析其推进速度、能耗与推进效率。波动鳍动力学模型的正确性在基于多波动鳍推进的仿生水下机器人试验系统的推力、力矩以及推进速度测试试验中得到了验证。3.针对“基于多波动鳍推进的仿生水下机器人”推进系统与控制系统一体化设计
的技术特点,提出了波动鳍推进模式用于水下机器人推进与姿态控制的多鳍协同波动推进控制方法。多鳍协同波动推进控制方法将水下机器人控制系统划分为多鳍协同波动控制与水下机器人运动/姿态控制两个层级。在多鳍协同波动控制层级,分别针对载体低速与稳速条件下的操控要求提出不同的多鳍协同控制算法,以产生期望的推力与操控力矩,并消除或抑制波动鳍产生的周期性力矩分量的不利影响。根据运动与姿态控制目标的不同,将仿生水下机器人控制系统的运动与姿态控制层级设计为双环控制系统。由于多波动鳍推进控制系统只能主动产生推进力、偏航力矩与俯仰力矩,因此将航速、航向与俯仰控制作为基本控制通道处于控制内环,其控制器采用模糊自适应PID控制策略进行非耦合分离设计;控制任务分解模块作为控制外环,其任务是将非基本控制通道的控制目标转化或分解为航速、偏航角与俯仰角控制目标,控制量的转化策略采用专家PID控制策略。在此基础上,根据多波动鳍推进控制系统动力学模型,提出相应的航速通道前馈补偿算法以及横滚姿态修正算法。通过在仿生水下机器人仿真系统上进行航速、航向、俯仰以及定深控制系统的阶跃响应、抗干扰性能和跟踪性能仿真,初步验证了多鳍协同波动推进控制方法用于水下机器人推进与姿态控制的有效性。
The propulsion mode of fish’s undulatory fin has advantages on less swimming disturbance, generations of vector thrust and convenience of being transplanted to underwater vehicles. Generally speaking, such a bio-propulsion mode provides a novel scheme for future aquatic robots, so it possesses values of theoretical research and prospective for wide applications. This thesis presents the fish-inspired robot which is propelled by cooperative undulation of the multi-fin bio-propulsor, including bionic design scheme, dynamic modeling of the undulatory multi-fin propulsion system and the cooperative control mechanism of the multi-fin propulsor. And we may draw the following innovative points.
1. The thesis proposes the design scheme for a novel bionic underwater vehicle which is propelled by undulatory multiple fish-like fin. In terms of existing reports and published literature, it is the first time to imitate propulsion mechanism of undulatory fins and apply that into the design and implementation of propulsion and control system for the novel underwater vehicle. This propulsion and control scheme with four orthogonal-parallel-deployed undulatory fins has been verified to generate thrust as well as yawing and pitching moments via active multi-fin undulations. In addition, the thrust and moments can be controlled by coordinating undulatory parameters of each fin or varying cooperative undulations among the four fins. This bionic multi-fin propulsor can actively generate thrust and operational moments without any rudders, so it may not only be applicable in propulsion and gesture control, but also it is good at enhancing maneuverability at low speed and high-speed agility. The propulsion and control system design scheme based on the undulatory multi-fin propulsor provides an innovative idea and another choice for the bionic design of underwater vehicles.
2. The kinematic and dynamic models are established on the basis of bionic inspirations in Balistiform fish’s undulatory fins and the drag model in fluid mechanics. The kinematic model can describe morphological and kinematic characteristics of the undulatory fins under a uniform expression, and is more feasible with comprehensive considerations in morphology in company with locomotion of the fin base line, the natural shape, the fin ray oscillation, and the lateral as well as vertical displacements. Additionally, the dynamic model of bionic undulatory fin can uncover the relation between the forces/moments and propulsive wave parameters, geometric parameters as well as swimming velocity. And it has been used to construct the dynamic model of the propulsion and control system and to analyze its motion velocity, energy consumption and propulsion efficiency. To be more important, this undulatory fin dynamic model has been validated by experimental tests in thrust, moments and propulsive velocity of the underwater vehicle.
3. In terms of the incorporation between propulsion and control in the bionic underwater vehicle, we present the multi-fin cooperative control mechanism for applying the undulatory fin mode into propulsion and gesture control. To be concrete, this method classifies the robotic control system into two levels: multi-fin cooperative control and motion/gesture control. On the level of multi-fin cooperation control, we propose and design the corresponding control algorithms to generate appropriate thrust in company with moments and to eliminate or decrease disadvantageous influences of the periodic moments, so as to satisfy manipulation requirements at low speed or others. The motion/gesture control system adopts the dual loop architecture to cope with various objectives in motion and gesture control. We select velocity, yawing and pitching as the three basic control channels in view of the fact that the multi-fin propulsor may only actively generate thrust, yawing moment and pitching moment. All the three basic control channels in the inner loop utilize fuzzy adaptive PID controller for non-coupling departure. The mission decomposition module in the outer loop answers for converting or decomposing the non-basic objectives into the basic objectives in velocity, yawing angle and pitching angle according to expert PID strategies. In succession, we propose corresponding forward-feedback compensatory algorithms and rolling correcting algorithms based on the dynamic model of the multi-fin propulsor. It is validated that the cooperative undulatory multi-fin propulsion and control approach is applicable into the motion/gesture control of underwater vehicles through abundant simulation in step responses, anti-disturbance and tracking performance of velocity, yawing, pitching and depth-keeping control systems.
引文
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