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以鳐鱼为仿生对象,设计了一种依靠两侧长鳍波动推进的长鳍机器鱼,并针对其航向控制问题展开研究.以长鳍机器鱼受力分析为出发点,建立了系统动力学模型.基于自抗扰控制(ADRC)技术,设计了航向控制器,将模型误差与外部扰动统一看作成系统扰动,由一个扩张状态观测器对其进行实时估计,将航向控制问题化简为一个典型二阶串级积分系统的控制问题,通过效率更高的非线性反馈给出航向控制量.仿真显示:该方法能很好地对长鳍机器鱼的航向进行控制,并具有良好的动态和静态特性.
In order to simulate the bream fish, a long-finned fishes robot propelled by the long-fin fins on both sides was designed and its heading control problem was studied.According to the force analysis of the long-finned robot fins, the system dynamic model Based on the ADRC technology, a heading controller is designed to unify the model error and external perturbation into a system perturbation, which is estimated by an extended state observer in real time and the heading control problem is reduced to a typical Second-order cascade integral system control problem, through the more efficient non-linear feedback to give the amount of heading control.The simulation shows that this method can well control the course of the long fin robotic fish and has good dynamic and static characteristic.