柔性长鳍波动推进仿生水下机器人控制系统设计与实现

论文以基于柔性长鳍波动推进的仿生水下机器人试验模型为背景,主要研究其控制系统总体结构、硬件和软件的设计与实现问题。控制系统设计为主从结构,主从模块间通过CAN总线进行通讯。主控模块采用遥控与程控两种工作模式,并通过遥控指令实现模式切换。试验模型的推进、俯仰与转向控制由仿生柔性长鳍、重心调节模块和2自由度“十”字形尾舵3个控制子模块实现,各控制子模块设计为闭环伺服控制系统。系统综合测试和试验模型航行试验结果表明,论文设计实现的控制系统主从模块间通讯顺畅,功能协调,性能可靠,实现了设计功能并达到了预期的目标。

Control System Design and Realization of Bionic Underwater Vehicle Propelled by the Long Flexible Fin Undulation

This paper mainly discusses the control system architecture, hardware and software design and realization of the test model of a bionic underwater vehicle, which is propelled by undulation of a long flexible fin. The control system is designed with a master- slave structure. The master communicates with slaves through a CAN bus. The main control module has two operational modes of re- mote control and program control, and uses remote control command to switch operational mode. The propelling, pitching and turning controls of the test model are respectively realized by a bionic long flexible fin, barycenter adjustment module and 2DOF crisscross tail rudder. All control subsystems are designed closed- loop servo control system. The results of system comprehensive test and test- model running trial indicate that the control system designed by this paper has realized its designed function and achieved anticipa- tive target because that the communication between the master and slaves is feasible, function is in phase, and performance is reli- able.