Control System Design And Experimental Study On Fish-Like Robot

For a long time, Fish-like robot always is a research focus on the bionic scientific research field. One of the research branches is fish-like robot that imitates tunny's swimming mode. It has high capabilities of propulsion and high maneuverability. Now it can be used in the underwater environment for a long time, with wide-range performance. Moreover, it can be used for the ocean observation and life saving. It has very high value of application. This task depends on the National Natural Science Fund on the research foundation of the predecessor, has developed system overall research of Fish-like robot.Through the fundamental academic research of tunny's swimming mode, the single motor-driven-robot fish has been designed, which has two joints taking pectoral fins as an elevator to make the fish-like robot moving up and down, Moreover it can achieve the inertia swerve and the static swerve. The parameterized mathematical model of double-hinged system has been established. The kinematics and dynamics analysis to the propulsion processe have been established. The kinematics and dynamic equation have been established.According to the robot fisn's motions, the author has designed hardware of robot fish's control system based on C8051 microcontroller, has established the hardware platform to the entire propulsion system, has developped control software based on C language. The procedure has been compiled and debugged.we have carried on the submarine experiment which control robot fish realize the three dimensional movement: speedup-deceleration, swerve, moving up and down. The test proves that the caudal fin oscillation frequency, the maximum amplitude of vibration of caudal fin,the caudal fin strikes the water angle influence the fish's speed; The curve experiment has obtained curve radius of inertia advance curve and static curve; The ups and downs experiment proves that the pectoral fin on different angle influences the fish to move ups and downs.