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为了生成仿生长鳍波动推进器的多种运动模式,提出了一种基于中枢模式发生器(CPG)模型的运动控制方法.利用改进的Matsuoka振荡器,建立了一个含有10个神经振荡器的CPG模型,通过调节CPG模型的输入参数协调控制推进器各鳍条的摆动,得到多种运动模式,基于CPG模型建立了长鳍波动推进器的运动控制器.通过在FPGA中实现CPG控制器,实现长鳍波动推进器的实时在线控制.通过推进器的游动实验,验证了控制器的有效性.
In order to generate a variety of motion patterns for the bionic fin propeller, a motion control method based on the Central Pattern Generator (CPG) model is proposed. With a modified Matsuoka oscillator, a CPG Model by adjusting the input parameters of the CPG model to coordinate the control of the sway of the fin of the thruster to obtain a variety of motion modes and to establish the motion controller of the long fin fluctuation thruster based on the CPG model.Through the realization of the CPG controller in the FPGA The real-time on-line control of the long-fin wave propeller is verified by the swimming experiment of the propeller.