机器人2016，Vol.38Issue(6)：746-753,8.DOI:10.13973/j.cnki.robot.2016.0746
基于CPG的仿生环形长鳍波动推进器运动控制
Motion Control of a Bionic Circular Long-fin Undulating Propeller Based on CPG
摘要
Abstract
To overcome shortcomings of poor stability and maneuverability of general bionic underwater robots, a bionic circular-fin propeller and its control method are proposed. A method of motion control based on central pattern generator (CPG) is proposed according to the structure features and propulsion mechanism of circular long-fin undulating propeller. A modeling concerning about 20 frequency-amplitude independently controlled neural oscillators in the propeller, is carried out through adjacent coupling, forming a CPG network model for the propeller. Moreover, the output signals of each oscillator in the control model and the influences of parameters on output signals are analyzed by simulation in the propulsion-control modes of symmetric waveform, asymmetric waveform and circumferential waveform respectively. Furthermore, influences of waveform parameters on swimming speed and turning velocity are tested in experiments. The result shows a certain stability and maneuverability of the prototype. Also its straight-line swimming velocity and standing turning velocity increase with both undulating frequency and amplitude, and can be up to 109 mm/s and 93◦/s respectively at maximum. Simulation and experimental results prove the feasibility and validity of the CPG control model.关键词
环形长鳍/波动推进器/中枢模式发生器(CPG)/运动控制/波形参数Key words
circular long-fin/undulating propeller/central pattern generator (CPG)/motion control/waveform parameter分类
信息技术与安全科学引用本文复制引用
王扬威,闫勇程,刘凯,赵东标..基于CPG的仿生环形长鳍波动推进器运动控制[J].机器人,2016,38(6):746-753,8.基金项目
国家自然科学基金（51405229）；江苏省自然科学基金（BK20130796）；中央高校基本科研业务费（NS2016055）． （）
