The Research Of Control System Based On Underwater Bionic Dolphin

Because of the reduction of land resources and the increasingly prominent marine safety issues,how to make use of underwater robots to complete underwater detection and safe inspection tasks more safely and efficiently has become a popular research direction at present.Bionic underwater robot has the advantages of low noise,great concealment and high efficiency.In ocean,the dolphin,which has more superior performance than the other creatures in the swimming performance and dragging reduction mechanism.Robotic dolphin is more suitable for researching on automatic control,robotics and so on.So more and more researchers from all over the world focus on studying the bionic robotic dolphin.The researching object of this paper is bionic robotic dolphin control system.According to the design requirements,the robotic dolphins need to complete straight,turn,floating dive and other basic movements independently,as well as high-speed travel and jumping water and other tasks.In view of the above sports attitude and functional requirements,this paper mainly completed the construction of underwater control system,without the help from staff intervention and energy supply situation,the robotic dolphin need automatically switch the movement mode and gesture recognition and other operations.Specific research work is as follows:The first is to analyze the dolphin's movement postures,modularize their movement mechanism by combining the mechanical design and introduce the power plant of the robotic dolphin.The bionic robotic dolphin,which is centered on the distributed control system and combined with CAN bus technology,makes use of DSP as the core of the motion controller and also collocates with modules of wireless communication and attitude sensor.After constructing the control system,the next step is to focus on the bionic robotic dolphin's hardware and software design.First,completing the hardware structure design of each module of the control system,including the selection of the components of the motion control module,the attitude module,the voltage conversion module and the wireless communication module,drawing the circuit schematic,designing and fabricating the PCB for the selected components.The software part focuses on the design of the dolphin sports attitude.For the design of the dolphin action,planning the program flow chart and the corresponding code design of the motion control function module with DSP as the core controller are completed.At the same time,for the characteristics of the multi-motor cooperative motion introducing CAN bus control technology.In order to achieve the real-time interactive function of man-machine,this paper also completes the wireless communication function based on wireless data transmission technology,and uses the upper computer interface prepared by LabVIEW.Because of the bionic underwater robotic dolphin's special sports environment and strict sealing requirements,in order to ensure that the bionic dolphins work underwater normally,conducting thermal analysis and thermal optimization for dolphins and PCB board,at the same time,it analyzes the possible conditions of condensate water and puts forward the solutions.At last,the thesis makes several tests.First is feasibility of hardware of the dolphin control system.The second is the test of the simulation of software.The third one is that the hardware and software based on the mechanical structure will be jointly debugged.The last part is the underwater test.After the test,the bionic machine dolphin control system can guarantee the independent movement,posture in transition and high-speed swimming,accomplish the scheduled design goals.