Research On Motion Control Of 2D-motion Bionic Fin

In order to adapt to the development trend of the times the ocean strategy,high performance bionic underwater robot gradually occupies a pivotal position in the seabed resources exploration,seabed research and military intelligence acquisition,which highlights the broad development prospects and huge potential value.In this paper,the two dimensional motion mechanism of the bionic fin is studied,and a control strategy based on fuzzy PID is proposed for the realization of the flexible control of the bionic fin in the complex flow environment.This paper mainly includes the following research contents.(1)Kinematics and dynamics analysis of two dimensional motion mechanism of bionic fin.First,the fish of Gymnarchus niloticus is used as the object,the swimming of which reveals the two-dimensional motion mechanism of fin.According to the method of coordinate transformation,the mathematical model of the position and attitude of the bionic fin is established.According to the Lagrange equation,the dynamic model of the bionic fin is established,and the independence of the two dimensions of the swing and torsion is verified.(2)Modeling and Simulation of bionic fin based on fuzzy PID control theory.According to the characteristics of the time variation,strong coupling,nonlinear and so on,the control model of the rotating fin module and the swinging fin module is established by using the fuzzy PID control strategy.The simulation platform of Matlab and Simulink is used to simulate the model,and the effectiveness of the fuzzy PID control strategy is verified.(3)The control system and experimental platform of the bionic fin are set up and the experimental test is carried out.According to the 2D motion mechanism of the bionic fin,the motion control system is built,and the hardware design and software design of the system are completed.To test the control effect of the control system,this paper set up the experimental platform of bionic fin,the fin ray angle was measured,and the two-dimensional motion of the fin was verified.At last the rotating fin module based on fuzzy PID control are tested and analyzed.