多自由度仿生推进系统的CPG控制

为了提高航行稳定性和机动性而设计的四尾鳍组合推进水下航行器,尾鳍运动自由度众多且相互耦合,稳定且快速的控制方案对提高航行器的整体性能至关重要。本文根据尾鳍运动特点,建立了中枢模式发生器(CPG)模型,协调控制8个驱动舵机,实现巡游、倒退、偏航、俯仰等各种航行状态下尾鳍的组合运动;通过陀螺仪监测航行器的偏航角与俯仰角,形成反馈信号引入CPG模型,对尾鳍运动进行反馈控制,进一步提高了航行稳定性。

On the CPG Control Strategy for Biomimetic Propeller System with Multi Motion Freedom Degrees

In order to improve navigation stability and maneuverability of a biomimetic autonomous underwater vehicle (AUV) designed to be propelled by combination of four caudal fins, which have many coupled motion freedom degrees, a stable and fast controlling scheme is vitally important to improve vehicle whole performance. According to the characteristics of caudal motion, a central pattern generator (CPG) model was established, which can control and coordinate caudal motion combination through 8 drive actuators to realize parade, backwards, yaw, pitch and other navigation states. To improve the navigation stability further, the yaw and pitch angles were monitored and fed back to the CPG model by gyroscope.