CN106645933A - System for monitoring energy consumption of tail fin of robotic fish - Google Patents
System for monitoring energy consumption of tail fin of robotic fish Download PDFInfo
- Publication number
- CN106645933A CN106645933A CN201611115264.7A CN201611115264A CN106645933A CN 106645933 A CN106645933 A CN 106645933A CN 201611115264 A CN201611115264 A CN 201611115264A CN 106645933 A CN106645933 A CN 106645933A
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- operational amplifier
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- current sensing
- sensing resistance
- digital conversion
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- 238000005265 energy consumption Methods 0.000 title claims abstract description 22
- 238000012544 monitoring process Methods 0.000 title claims abstract description 18
- 241000251468 Actinopterygii Species 0.000 title abstract description 6
- 238000006243 chemical reaction Methods 0.000 claims abstract description 28
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 10
- 230000003321 amplification Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 claims description 2
- 230000008054 signal transmission Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 17
- 239000000523 sample Substances 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 101100203598 Plasmodium falciparum (isolate NF54) SOPT gene Proteins 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011545 laboratory measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R22/00—Arrangements for measuring time integral of electric power or current, e.g. electricity meters
- G01R22/06—Arrangements for measuring time integral of electric power or current, e.g. electricity meters by electronic methods
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention discloses a system for monitoring the energy consumption of a tail fin of a robotic fish. The system comprises a current measurement resistor, an operational amplifier, an analog-to-digital conversion module, a main controller and an upper computer. The current measurement resistor is connected in a power supply circuit of a steering engine in a series manner, and two ends of the operational amplifier are respectively connected with two ends of the current measurement resistor. The operational amplifier is used for amplifying the voltage across two ends of the current measurement resistor. The analog-to-digital conversion module is connected with the operational amplifier, and is used for converting an analog voltage amplified by the operational amplifier into a digital voltage signal. The main controller is connected with the analog-to-digital conversion module, and is used for transmitting the digital voltage signal to the upper computer. The system is simple in structure, is high in measurement precision, and can adapt to a water environment.
Description
Technical field
The present invention relates to detection field, more particularly to a kind of machine fishtail fin energy-consumption monitoring system.
Background technology
The swing of machine fishtail fin provides power for robot fish movement, the amplitude of oscillation, hunting frequency when tail fin swings and just
Beginning, drift angle all affected the power consumption of whole system.It is divided into two big class, i.e. software emulation for the technical way of energy consumption analysis
Method and hardware experiments method.Sofeware simulation method has：NS-2, OPNET, SensorSim and Samovar etc..Outside experiment
Method current probe method, based on methods such as software probes.
Current probe method gathers output voltage using current probe, i.e., changed the current signal for gathering using current probe
Into voltage signal, according to the energy of Linear Functional Equations calculation consumption.
Software probe method coordinates external hardware circuit counting node energy consumption, such as SOPT by inserting energy consumption measurement code
System (sensor network power consumption monitoring system), the system includes four parts：1. tested part, including wireless sense network platform
And battery；2. calibrated section, such as digital multimeter are verified；3. data acquiring portion, including anti-interference current probe and letter
Number conditioning and data acquisition module；4. PC parts, are mainly used in record analyses data.Such as Dutta, (sensor network power consumption is dispatched
Device) using a kind of component for being referred to as iCount, by inserting code, the output of controlling switch circuit in former working procedure.Should
Component is based on system for sensor network operating TinyOS platforms, using its unique grammer exploitation, when application program is performed
Call.Pulse width and the cycle of output are captured using external hardware circuit matable assembly, so as to calculate energy expenditure.
Based on static node more than sofeware simulation method, it is impossible to the situation of test motion.Current probe method anti-interference and
Stability is preferable, but the method measurement range and limited precision, higher to hardware requirement, it is adaptable to which laboratory measurement and foundation are each
The phantom of individual module, for the environment that machine fish moves about in water, this method of testing is simultaneously not suitable for.Software probe method has
There is preferable anti-interference, but limited by the software platform of node, it is higher to hardware requirement, and the work of node can be caused
Immeasurable impact.
The content of the invention
It is an object of the invention to provide a kind of simple structure, certainty of measurement are high, can adapt to the machine fish tail of water environment
Fin energy-consumption monitoring system.
For achieving the above object, the invention provides following scheme：
A kind of machine fishtail fin energy-consumption monitoring system, the system includes：Current sensing resistance, operational amplifier, analog digital conversion
Module, master controller and host computer, the current sensing resistance is connected in the power supply circuits of steering wheel, the two ends of the operational amplifier
It is connected with the two ends of the current sensing resistance, the operational amplifier is used for the voltage amplification at the current sensing resistance two ends, institute
State analog-to-digital conversion module to be connected with the operational amplifier, after the analog-to-digital conversion module is used to amplify operational amplifier
Analog voltage is converted to digital voltage signal, and the main controller is connected with the analog-to-digital conversion module, and the main controller is used for
Control transmits the digital voltage signal to the host computer.
Optionally, the system also includes：Wireless communication module, the wireless communication module is connected with the master controller
Connect, radio communication mold transmits the digital voltage signal to the host computer described in the main controller controls.
Optionally, the host computer is used to be calculated the electricity at the current sensing resistance two ends according to the digital voltage signal
The energy consumption of pressure value, the current value for flowing through the current sensing resistance and machine fishtail fin.
Optionally, the analog-to-digital conversion module includes modulus conversion chip, the model of the modulus conversion chip
MAX1169。
Optionally, the Low-Power CMOS operational amplifier OPA2333 that the operational amplifier is produced using TI companies.
According to the specific embodiment that the present invention is provided, the invention discloses following technique effect：The machine that the present invention is provided
Fishtail fin energy-consumption monitoring system, by current sensing resistance of connecting in the current supply circuit of steering wheel, and using operational amplifier by flow measurement
The voltage amplification at resistance two ends, uploads to host computer after analog digital conversion, and the voltage signal for receiving is carried out by host computer
Reason is calculated, and obtains the energy consumption of machine fishtail fin.Requirement of the measuring system to hardware is low, with of the prior art to hardware requirement
The high, method that can be only applied in laboratory environment is compared, and the monitoring system that the present invention is provided is to the less demanding of environment, energy
Enough apply there is the environment of water, and, steering wheel voltage is measured by detection resistance, and then obtain the measurement of machine fishtail fin energy consumption
Mode high precision, and the system structure based on the principle is simple, compared with prior art, tool has great advantage.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing that needs are used is briefly described, it should be apparent that, drawings in the following description are only some enforcements of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can be with according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is embodiment of the present invention tail fin energy consumption monitoring circuit design principle block diagram.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It is an object of the invention to provide a kind of simple structure, certainty of measurement are high, can adapt to the machine fish tail of water environment
Fin energy-consumption monitoring system.
It is understandable to enable the above objects, features and advantages of the present invention to become apparent from, it is below in conjunction with the accompanying drawings and concrete real
The present invention is further detailed explanation to apply mode.
Fig. 1 is embodiment of the present invention tail fin energy-consumption monitoring system structural representation, as shown in figure 1, the system includes：Survey
Leakage resistance, operational amplifier, analog-to-digital conversion module, master controller and host computer, the current sensing resistance is connected on the power supply of steering wheel
In circuit, the two ends of the operational amplifier are connected with the two ends of the current sensing resistance, and the operational amplifier is used for institute
The voltage amplification at current sensing resistance two ends is stated, the analog-to-digital conversion module is connected with the operational amplifier, the analog digital conversion
The analog voltage that module is used for after operational amplifier is amplified is converted to digital voltage signal, and the main controller turns with the modulus
Mold changing block is connected, and the main controller is used for control transmits the digital voltage signal to the host computer.
The system also includes：Wireless communication module, the wireless communication module is connected with the master controller, described
Radio communication mold described in main controller controls transmits the digital voltage signal to the host computer.
The host computer is used to be calculated magnitude of voltage, the stream at the current sensing resistance two ends according to the digital voltage signal
Cross the current value of the current sensing resistance and the energy consumption of machine fishtail fin.
The analog-to-digital conversion module includes modulus conversion chip, model MAX1169 of the modulus conversion chip.ADC
The reference voltage of modulus conversion chip MAX1169 uses its internal reference voltage, its input voltage range be 0V～+
4.096V.Therefore, the output voltage of operational amplifier OPA2333 need to be in the range of 0V～+4.096V, because operational amplifier
The amplification of the amplifying circuit that OPA2333 is constituted is 10 times, therefore operational amplifier OPA2333 input voltages should be between 0V
In the range of～0.4096V, i.e., the voltage range at current sensing resistance two ends should be in the range of 0V～0.4096V.Machine fishtail fin swings
In 1-2Hz, in the range of 10 ° -40 °, the maximum operating currenbt of steering wheel is about 0.7A to amplitude of fluctuation to frequency, therefore selection resistance is
The low inductance metal thin film resistor of 0.4 Ω is used as current sensing resistance.
The Low-Power CMOS operational amplifier OPA2333 that the operational amplifier is produced using TI companies.Steering wheel is in commutation
During, current sensing resistance two ends minimum voltage 600uV, therefore it is required that operational amplification circuit should have high input impedance, very high
The features such as common mode rejection ratio, low noise, low-power consumption and strong antijamming capability.The Low-Power CMOS operational amplifier of TI companies production
OPA2333 have Low-offset voltage (26uV), extremely low quiescent current (17uA), Rail-to-Rail input-output characteristics,
And the characteristic such as the low temperature drift of level.Meanwhile, OPA2333 provides extraordinary common mode rejection ratio (CMRR), and amplification can root
According to needing designed, designed, and the amplifier drives analog-digital converter (ADC) not need circumscribing peripheral circuit to reach impedance
Match somebody with somebody.
The current sensing resistance R of a little resistance of connecting in steering wheel power supply circuitsSENSE.Steering wheel is adopted in course of normal operation
With operational amplifier to current sensing resistance RSENSEThe voltage V at two endsaIt is amplified, and is put computing using A/D modulus conversion chips
Analog voltage V after big device amplificationbDigital voltage signal is converted to, result is sent supreme by master controller after data processing
Position machine.Host computer calculates current sensing resistance R according to result using formula (1) and formula (2)SENSEThe voltage V at two endsaAnd stream
Cross current sensing resistance RSENSEElectric current ISENSE：
Va=Vb/K (1)
ISENSE=Va/RSENSE (2)
Then machine fishtail fin energy consumption is：
E=VISENSEt
Current sensing resistance RSENSEThe selection of resistance consider it is following some：First, the loss of voltage.If current sensing resistance RSENSEIt is larger, then
Its partial pressure also can be larger, then can affect the normal work of steering wheel.In order that its partial pressure loss reduction, need to be tried one's best little from resistance
Current sensing resistance RSENSE.2nd, accuracy.If current sensing resistance RSENSEIt is larger, it is measured more accurately can less electric current.In order to
Best measurement effect is obtained, need to be put with reference to the maximum input voltage of the modulus conversion chip MAX1169 for having selected and computing
The amplification of big device circuit to current sensing resistance size accounting for.3rd, energy loss.When steering wheel operating current is larger,
Current sensing resistance RSENSEOn energy loss will than more significant, if not considering the problem, during steering wheel works long hours, survey
Leakage resistance RSENSEOn energy expenditure will be larger.Its temperature also can be with rising, current sensing resistance RSENSEResistance also can produce
Temperature drift, so as to cause measurement error.
The machine fishtail fin energy-consumption monitoring system that the present invention is provided, by flow measurement electricity of connecting in the current supply circuit of steering wheel
Resistance, and using operational amplifier by the voltage amplification at current sensing resistance two ends, host computer is uploaded to after analog digital conversion, by upper
Machine carries out process calculating to the voltage signal for receiving, and obtains the energy consumption of machine fishtail fin.Requirement of the measuring system to hardware is low,
Compared with, the method that can be only applied in laboratory environment high to hardware requirement of the prior art, the prison that the present invention is provided
Examining system can be applied there is the environment of water to the less demanding of environment, and, steering wheel voltage is measured by detection resistance, enter
And the metering system high precision of machine fishtail fin energy consumption is obtained, and the system structure based on the principle is simple, with prior art phase
Than tool has great advantage.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
It is bright to be only intended to help and understand the method for the present invention and its core concept；Simultaneously for one of ordinary skill in the art, foundation
The thought of the present invention, will change in specific embodiments and applications.In sum, this specification content is not
It is interpreted as limitation of the present invention.
Claims (5)
1. a kind of machine fishtail fin energy-consumption monitoring system, it is characterised in that the system includes：Current sensing resistance, operational amplifier,
Analog-to-digital conversion module, master controller and host computer, the current sensing resistance is connected in the power supply circuits of steering wheel, the operation amplifier
The two ends of device are connected with the two ends of the current sensing resistance, and the operational amplifier is used for the voltage at the current sensing resistance two ends
Amplify, the analog-to-digital conversion module is connected with the operational amplifier, the analog-to-digital conversion module is used for operational amplifier
Analog voltage after amplification is converted to digital voltage signal, and the main controller is connected with the analog-to-digital conversion module, the master
Control device is used for control transmits the digital voltage signal to the host computer.
2. monitoring system according to claim 1, it is characterised in that the system also includes：Wireless communication module, it is described
Wireless communication module is connected with the master controller, and radio communication mold described in the main controller controls is by the digital voltage
Signal transmission is to the host computer.
3. monitoring system according to claim 1, it is characterised in that the host computer is used to be believed according to the digital voltage
The energy of number magnitude of voltage for being calculated the current sensing resistance two ends, the current value for flowing through the current sensing resistance and machine fishtail fin
Consumption.
4. monitoring system according to claim 1, it is characterised in that the analog-to-digital conversion module includes analog digital conversion core
Piece, model MAX1169 of the modulus conversion chip.
5. monitoring system according to claim 1, it is characterised in that the operational amplifier is low using the production of TI companies
Power consumption cmos operational amplifier OPA2333.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611115264.7A CN106645933A (en) | 2016-12-07 | 2016-12-07 | System for monitoring energy consumption of tail fin of robotic fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611115264.7A CN106645933A (en) | 2016-12-07 | 2016-12-07 | System for monitoring energy consumption of tail fin of robotic fish |
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| CN106645933A true CN106645933A (en) | 2017-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611115264.7A Pending CN106645933A (en) | 2016-12-07 | 2016-12-07 | System for monitoring energy consumption of tail fin of robotic fish |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107818210A (en) * | 2017-10-26 | 2018-03-20 | 成都信息工程大学 | A kind of determination method and system of fin push type robot fish movement energy consumption |
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| CN2610560Y (en) * | 2003-03-12 | 2004-04-07 | 深圳市和而泰电子科技有限公司 | AC. motor counter electromotive force detecting circuit |
| US6894477B1 (en) * | 2003-03-04 | 2005-05-17 | Fazaki North America, Inc. | Electrical current monitor |
| DE102010039271A1 (en) * | 2010-08-12 | 2012-02-16 | Endress + Hauser Gmbh + Co. Kg | Circuit for controlling and monitoring a signal current and a transmitter with such a circuit |
| CN105015702A (en) * | 2015-07-22 | 2015-11-04 | 成都信息工程大学 | Statistical method of energy consumption of robotic fish with push type tail fin |
| CN105445540A (en) * | 2015-12-15 | 2016-03-30 | 惠州Tcl移动通信有限公司 | Mobile terminal real-time power consumption testing system, testing device, and testing method |
| CN205246751U (en) * | 2015-12-26 | 2016-05-18 | 西安科技大学 | Little current continuity of direct current monitors appearance |
| CN206321702U (en) * | 2016-12-07 | 2017-07-11 | 成都信息工程大学 | A kind of machine fishtail fin energy-consumption monitoring system |
-
2016
- 2016-12-07 CN CN201611115264.7A patent/CN106645933A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6894477B1 (en) * | 2003-03-04 | 2005-05-17 | Fazaki North America, Inc. | Electrical current monitor |
| CN2610560Y (en) * | 2003-03-12 | 2004-04-07 | 深圳市和而泰电子科技有限公司 | AC. motor counter electromotive force detecting circuit |
| DE102010039271A1 (en) * | 2010-08-12 | 2012-02-16 | Endress + Hauser Gmbh + Co. Kg | Circuit for controlling and monitoring a signal current and a transmitter with such a circuit |
| CN105015702A (en) * | 2015-07-22 | 2015-11-04 | 成都信息工程大学 | Statistical method of energy consumption of robotic fish with push type tail fin |
| CN105445540A (en) * | 2015-12-15 | 2016-03-30 | 惠州Tcl移动通信有限公司 | Mobile terminal real-time power consumption testing system, testing device, and testing method |
| CN205246751U (en) * | 2015-12-26 | 2016-05-18 | 西安科技大学 | Little current continuity of direct current monitors appearance |
| CN206321702U (en) * | 2016-12-07 | 2017-07-11 | 成都信息工程大学 | A kind of machine fishtail fin energy-consumption monitoring system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107818210A (en) * | 2017-10-26 | 2018-03-20 | 成都信息工程大学 | A kind of determination method and system of fin push type robot fish movement energy consumption |
| CN107818210B (en) * | 2017-10-26 | 2020-10-09 | 成都信息工程大学 | Method and system for determining motion energy consumption of fin-propelled robotic fish |
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