Flexible Drive Control Of Bionic Robot Fish Based On DEAP

The traditional drive mode of the bionic robot has motor,hydraulic and so on.Its disadvantages are obvious,such as the low energy conversion efficiency,the big noise and the big volume.So the driving flexible mode is the trend.A new type of electronic flexible material,DEAP,is employed in this thesis to serve as the actuation of the bionic robotic fish.The flexible actuator is designed and the kinematics and dynamics analysis is carried out for the bionic robot fish.Finally,effective control strategy is applied on the robot fish.First comes to the design of the fish body.Here DEAP is used for the linear actuator,based on which a kind of rotational joint actuator is obtained.The optimal joint scale is finally achieved by means of the analysis on the fish wave equation and the target function of error area.Then the optimal length of joints is obtained.The second part focuses on the mathematical model of the linear actuator.Based on the input voltage and the correlation between displacement and the output force,the model analysis is conducted on the rotational joint actuator so as to stipulate the definite voltage and the intrinsic relation between displacement and the output torque,which lays foundation for the control mechanism in the following chapters.Then the kinematics analysis is carried out for the bionic robotic fish.According to the angle,angular velocity and angular acceleration value given during the simulation process of the bionic fish,the linear speed value of each joint is acquired.After the analysis on water resistance torque,integrated with the kinetics parameters of the fish through computation,the joint driving torque for fish movement is gained during the dynamics study.The final part deals with the control of the bionic robotic fish.Tow means of control are introduced in this part.One is the PID feed-forward control based on the inverse compensation.The operation principle is to consider the gained angle value of the joint as the system input,and to take the input voltage signal achieved through the inverse compensation of the joint driving torque as feedforward signal.And the error tolerance is 5 percent;the other means is the ADRC technology.This way controls the fish by linear-ADRC strategy and regards the non-linear factors as the system perturbation treatment,such as the hysteresis of the system.the error tolerance of the simulation is 6 percent.Remarkable control effectiveness can be achieved by both two methods discussed above.