The Research On Control System Of Highly Mobile Bionic Robotic Dolphin Based On STM32

Due to the declining land resources,people began to shift their development direction to resource-rich oceans.Artificial development is not only difficult but also inefficient,so humans use underwater robots instead of manual operations.Today's propeller-type underwater robots not only have low efficiency of propulsion and are noisy.But bionic robotic fish can make up for these shortcomings.It is worth noting that,in robot of the bionic robotic fish,the swimming performance of the bionic robotic dolphins is very superior.So the research object of this design is determined to be a bionic robotic dolphin.The main content of this paper is the control system of STM32-based highly mobile bionic robotic dolphin.The main purpose of this design is to control the movement of the bionic robotic dolphin,so that it can complete the basic swimming posture,such as straight,turn,float and dive,and complete the high-speed parade and obstacle avoidance and other functional tasks.The main research work is as follows:First of all,the development background and application value of the bionic robotic dolphins were investigated.Then,a brief analysis of the swimming characteristics of dolphins was conducted.In combination with the appearance and swimming characteristics of the dolphins,the various functional mechanisms of the bionic dolphin designed using the modular design concept were introduced.And combined with the driving device,the working principle of each part of the mechanism was analyzed.Then the design and construction of the hardware system used in this bionic robotic dolphin were introduced specially.Also the selections of the devices were mentioned in this part.Firstly,the design of the entire hardware system was completed.It included the selection of the main control chip,driving device,power supply module,attitude sensor module,wireless communication module and underwater ranging module.For the complexity of the power supply module,a main control board was designed to integrate the main control chip with the voltage supply circuit,which simplifies the wiring of the hardware system.According to the requirements,the control flow and algorithm design for each module were designed.In addition to the controlling of basic movement,the attitude sensor was also designed to control the dolphin's attitude angles.At the same time,a sonar-based obstacle avoidance controlling system was designed to allow bionic dolphins to have the ability to avoid obstacles.Finally,testing each module's hardware and software separately to ensure that it works properly.Then,all the hardware modules were connected and the software of each module was fused together for joint debugging to achieve the final requirements of the controlling.Finally,the swimming test underwater was performed greatly.