纵向模型识别和控制器设计,用于通过实验通过控制的鱼机器人
Daewook Kim1, Jinyou Kim2, Changyong Oh1
1Department of Aerospace Information Engineering, Konkuk University, Seoul 05029, Republic of Korea.
Biomimetics (Basel, Switzerland)
|November 26, 2025
概括
本研究开发了生物模拟水下机器人的控制方法,使用PID控制器有效地管理激增速度和稳定俯冲角. 实验模型显示了控制鱼类机器人运动的有希望的结果.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 生物模拟学是一种生物模拟学.
背景情况:
- 仿生水下机器人提供了先进的机动性,但由于非线性动力学和不确定性,它们存在复杂的控制挑战.
- 有效控制纵向运动,特别是冲浪速度和俯冲角度,对于稳定高效的水下航行至关重要.
研究的目的:
- 为仿生水下机器人提出一个实验性的纵向模式控制方法.
- 开发冲浪速度和俯冲角度的输入输出模型,以解决鱼类机器人控制的复杂性.
- 使用PID控制器设计和验证闭环控制系统.
主要方法:
- 衍生了激增速度和俯仰角度的实验输入输出模型,将鱼机器人视为一个单一的系统.
- 基于已识别的线性模型设计的比例积分导数 (PID) 控制器.
- 通过模拟和实验测试验证控制器性能.
主要成果:
- 冲浪速度响应模型显示,在不同速度的线性模型和实验结果之间存在很高的一致性 (75-81%).
- 曲率角响应模型的一致性较低 (34-68%),表明曲率动态的复杂性较大.
- PID控制器表现出有效的激增速度控制和俯仰角稳定,尽管振荡,但观察到接近0°.
结论:
- 一种线性建模和控制器设计方法可以有效地控制仿生水下机器人的冲浪速度.
- 稳定俯仰角是可以实现的,尽管俯仰动态需要仔细考虑,因为较低的模型协议.
- 拟议的控制策略显示了提高鱼类水下机器人的性能和稳定性的潜力.
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