小型水下机器人仿生膀胱系统建模与分析

Longxin Lin, Haijun Xu, Haibin Xie, Lincheng Shen
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引用次数: 1

摘要

升降运动是水下机器人不可缺少的功能。受生物鱼鳔的启发,设计了一种既能实现起伏控制又能实现俯仰控制的仿生膀胱系统。它主要由一个气缸和一个活塞组成。建立了仿生膀胱系统的起伏运动和俯仰运动动力学模型,并在此基础上设计了双速度控制系统。通过设置不同的控制周期,使两个控制通道解耦。用实际设计参数进行了仿真。结果表明,通过适当的控制参数,仿生膀胱系统可以获得良好的控制性能。
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Modeling and Analysis of a Bionic Bladder System Designed for Minitype Underwater Robots
Heaving motion is an indispensably function for underwater robots. A bionic bladder system which can realize both heaving and pitching control was designed inspired by biologic fishpsilas bladder. It was mainly composed of a cylinder and a piston. The dynamic models of the bionic bladder system for heaving and pitching motion were established and based on which a dual-velocity control system was designed. The two control channels became decoupling by setting different control cycles. Simulations with the real design parameters were performed. Results indicated that a good control performance can be achieved by the bionic bladder system with proper control parameters.
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