CN109866904A - A kind of movement of bionical jellyfish class underwater robot and method for control speed - Google Patents

Abstract

A kind of movement of bionical jellyfish class underwater robot and method for control speed, belong to bio-robot control field.Existing nonlinear oscillator has that the convergence rate of frequency and amplitude is slow in the rhythmic motion control of bio-robot, and lacks corresponding method for control speed.A kind of movement of bionical jellyfish class underwater robot and method for control speed, design bionical jellyfish dynamic model；The oscillator model for establishing each joint of bionical jellyfish changes the waveform of oscillator；Design the coupled modes between two oscillators, thereby determine that the coupled modes established between multiple oscillators, it cooperates and coordinates between joint where realizing multiple oscillators, realize the control of bionical jellyfish movement, frequency and average speed change curve are drawn according to motion control, corresponding motion frequency is found, calculates cyclical velocity change curve as desired speed；Desirably speed control speed.Inventive algorithm is good to the movement convergence of bionical jellyfish, can stability contorting movement velocity.

Description

A kind of movement of bionical jellyfish class underwater robot and method for control speed

Technical field

The present invention relates to a kind of control method of bio-robot, in particular to a kind of the motion control and speed of bionical jellyfish Spend control method.

Background technique

Compared to other fish, jellyfish has small in size, light-weight, the features such as flexibility is high, and metabolic rate is low, can efficiently use The surge movement of water flow.Using these features, people start interested in the research of bionical jellyfish, it is intended to develop bionical jellyfish sample Machine.

Bionical jellyfish also has many important application scenarios in engineering.Bionical jellyfish can the waters of environment complexity into Row operation and also have very big cavity space can be used for placing instrument and equipment, in marine organisms investigation, ocean rescue, sea Play important role under the scenes such as foreign resource exploration.In addition, bionical jellyfish have lower noise, stronger concealment and It the characteristics of kinetic stability, is not easy to be found in detection investigation, there is significant advantage compared to other underwater robots.

The coordinated movement of various economic factors of the bio-robot in timing and space is two key problems of research, usual for the problem It is to summarize to extract motion model to the rule of the biological motion in life.Modern neuro discovery higher mammal exhales The behavior for having certain rhythm of the instincts such as suction, walking is the nervous centralis mode of spinal cord and brain stem positioned at nervous system middle layer The instruction that generator issues.With bionic development, we simulate nervous centralis mode with the nonlinear oscillator of coupling The instruction that generator (Central pattern generators, CPGs) issues is used for the rhythm of control biomimetics robot Movement.The nonlinear oscillator of coupling common are for motion controls such as bionical newt, Biomimetic Fish, bionical snakes.

It is less for the control method research of bionical jellyfish both at home and abroad.Therefore the invention patent devises a kind of for bionical The motion control method of jellyfish class underwater robot.

In addition, with the development of science and technology, bionics has been to be concerned by more and more people.Bionics is to go out the 1960s An existing comprehensive frontier science.Bionics by observation, simulation, production biology shape, movement mechanism, control mode, Principle of propeller come achieve the purpose that in traditional industry improve or innovate original technology.Since aquatic organism passes through 10000000 year Evolution, be provided under water for a long time life ability and characteristic.If characteristic possessed by aquatic organism is passed through design Production is integrated into underwater robot, and can make underwater robot equally has good cruising ability, lower noise etc. Good characteristic.

Under water in biological propulsion mode, it is relatively conventional to swing propulsion, and the mode of jet propulsion is then more original.Water Mother has good stationarity and flexible locomitivity by jet propulsion, and the mode of jellyfish jet propulsion increasingly obtains Everybody concern, people begin one's study bionical jellyfish.Compared to other fish, jellyfish has small in size, light-weight, flexibility height, The features such as metabolic rate is low can efficiently use the surge movement of water flow.Using these features, people start the research to bionical jellyfish It is interested, it is intended to develop bionical jellyfish model machine.

Bionical jellyfish also has many important application scenarios in engineering.Bionical jellyfish can the waters of environment complexity into Row operation and also have very big cavity space can be used for placing instrument and equipment, in marine organisms investigation, ocean rescue, sea Play important role under the scenes such as foreign resource exploration.In addition, bionical jellyfish have lower noise, stronger concealment and The characteristics of better kinetic stability, is not easy to be found in detection investigation, has compared to other underwater robots significant Advantage.

Since bionical jellyfish is as characterized above, researcher begins to focus on the development and development of bionical jellyfish, and opens Some bionical jellyfish model machines are sent out.There are several motion control methods suitable for bionical jellyfish both at home and abroad, realizes bionical The motion modes such as linear motion, the divertical motion of jellyfish, but due to the mechanical periodicity characteristic of bionical jellyfish movement, speed adds All there is cyclically-varying feature in the indexs such as speed, there are no a kind of methods of bionical jellyfish speed control.

Therefore the invention patent is based on central pattern generator (cpg) (Central pattern generators, CPG) technology Design a kind of method for control speed for bionical jellyfish class underwater robot.

Summary of the invention

The purpose of the present invention is to solve existing nonlinear oscillator bio-robot rhythmic motion control In the process, there is a problem of that the convergence rate of frequency and amplitude is slow, and existing lack about bionical jellyfish method for control speed The problem of, and propose a kind of motion control method and speed control based on the bionical jellyfish class underwater robot for improving oscillator Method.

It is a kind of based on improve oscillator bionical jellyfish class underwater robot motion control method, the method includes with Lower step:

Step 1: designing bionical jellyfish dynamic model；

Step 2: establishing the oscillator model in each joint of bionical jellyfish, vibration is changed using the generation method of anharmonic wave gait Swing the waveform of device；

Step 3: the coupled modes between two oscillators of design, thereby determine that the coupling established between multiple oscillators Mode cooperates between joint where realizing multiple oscillators and coordinates, completes various motion modes, realizes that bionical jellyfish is whole The control of the coordinated movement of various economic factors.

A kind of method for control speed of bionical jellyfish class underwater robot, the described method comprises the following steps:

Step 1: designing bionical jellyfish dynamic model；

Step 2: establishing the oscillator model in each joint of bionical jellyfish, vibration is changed using the generation method of anharmonic wave gait Swing the waveform of device；

Step 3: the coupled modes between two oscillators of design, thereby determine that the coupling established between multiple oscillators Mode cooperates between joint where realizing multiple oscillators and coordinates, completes various motion modes, realizes that bionical jellyfish is whole The control of the coordinated movement of various economic factors；

Step 4: the motion control process according to step 3 draws frequency and average speed change curve；

Step 5: corresponding motion frequency is found according to average expectation speed on average speed change curve in frequency, It is extrapolated surely further according to motion frequency by result of the anharmonic wave gait oscillator equation in conjunction with bionical jellyfish kinetics equation Cyclical velocity change curve after fixed, and as desired speed；

Step 6: carrying out speed control by PID according to the desired speed of acquisition.

The invention has the benefit that

The present invention realizes convergence rate of oscillator model under the influence of frequency and amplitude, the vibration that the present invention designs Desired convergence effect can be reached under the influence of frequency and amplitude within half of period of motion by swinging device model, be had good There are two types of compared with technical solution with now for convergence and stability:

For existing CPGs oscillator, although it proposes a kind of oscillator model based on CPGs, compared to Hopf Oscillator has faster amplitude, frequency convergence rate, this method is applied to bionical fish robot, movement effects are preferable. But inventive algorithm is in contrast, and the convergence rate of frequency and amplitude is more smooth, and slightly changes or meet in amplitude, frequency To when small disturbance have faster convergence rate.

For existing triangular waveform control method, a kind of bio-robot movement control based on triangular waveform is proposed Method processed, by the way that the method achieve the avoid-obstacle behaviors of bionical jellyfish.But inventive algorithm is in contrast, the convergence process of movement It is more smooth, and control the case where curve of output is mutated there is no pole.

The present invention realizes oscillator model in the shadow of frequency and amplitude by the research to bionical jellyfish speed control Convergence rate under ringing, the oscillator model that the present invention designs can be within half of period of motion under the influence of frequency and amplitude Reach desired convergence effect, there is good convergence and stability.What the invention patent was proposed is suitable for bionical jellyfish Method for control speed, the fortune that the bionical jellyfish in conjunction with possessed by existing Hopf oscillator and triangular waveform control method turns to The control performance of dynamic, linear motion motion mode, can it is anticipated that velocity interpolation to the stability contorting of the speed of bionical jellyfish.

Detailed description of the invention

Fig. 1 is the flow chart of the method for motion control of the present invention；

Fig. 2 is the anharmonic wave gait expression figure of the method for motion control of the present invention；

Fig. 3 is that the jellyfish draining of the method for motion control of the present invention promotes schematic diagram；

Fig. 4 is the bionical jellyfish oscillator coupled relation figure of the method for motion control of the present invention；

Fig. 5 is the bionical jellyfish items dimensional parameters schematic diagram of the method for the motion control that the present invention designs；

Fig. 6 is the monostable oscillator frequency error factor figure of the method for motion control of the present invention；

Fig. 7 is the monostable oscillator amplitude increase figure of the method for motion control of the present invention；

Fig. 8 is that the monostable oscillator amplitude of the method for motion control of the present invention reduces figure；

Fig. 9 is the bionical jellyfish speed change curves of the method for motion control of the present invention；

Figure 10 is the bionical jellyfish displacement changing curve of the method for motion control of the present invention；

Figure 11 is the method flow diagram of method for control speed of the present invention；

Figure 12 is the anharmonic wave gait expression figure of method for control speed of the present invention；

Figure 13 is that the jellyfish draining of method for control speed of the present invention promotes schematic diagram；

Figure 14 is the bionical jellyfish oscillator coupled relation figure of method for control speed of the present invention；

Figure 15 is the bionical jellyfish items dimensional parameters schematic diagram for the method for control speed that the present invention designs；

Figure 16 is the frequency stabilization average speed homologous thread of method for control speed of the present invention；

Figure 17 is speed control analogous diagram of the present invention；

The step of Figure 18 is method for control speed of the present invention four -- the speed control implementation flow chart of step 6.

Specific embodiment

Specific embodiment 1:

The motion control method based on the bionical jellyfish class underwater robot for improving oscillator of present embodiment, the side Method the following steps are included:

Step 1: designing bionical jellyfish dynamic model；

Step 2: establishing the oscillator model in each joint of bionical jellyfish, vibration is changed using the generation method of anharmonic wave gait Swing the waveform of device；

Step 3: the coupled modes between two oscillators of design, thereby determine that the coupling established between multiple oscillators Mode cooperates between joint where realizing multiple oscillators and coordinates, completes various motion modes, realizes that bionical jellyfish is whole The control of the coordinated movement of various economic factors.

Specific embodiment 2:

Unlike specific embodiment one, the bionical underwater machine of jellyfish class based on improvement oscillator of present embodiment The motion control method of device people in the step one, designs the process of bionical jellyfish dynamic model are as follows:

The movement of jellyfish in water is the cycle movement with regular rhythm.The motion process of jellyfish can be subdivided into receipts Contracting stage and relaxed phases, close linking mutually between two periods of jellyfish are provided and are endlessly moved for the movement of jellyfish Power.The principal element for influencing bionical jellyfish movement velocity is the ratio of the volume, contraction time and the diastolic time that drain when movement.

Due to the particularity of bionical jellyfish movement, the effect relative to direction of motion forward direction is provided when cavity is shunk Power, and the active force relative to the reversing of motion can be generated when cavity diastole, so the ratio of contraction time and diastolic time Value is to consider the important parameter of bionical jellyfish movement.If the ratio of contraction time and diastolic time is k.K is between 0 to 1, k The propulsive force for being worth smaller bionical jellyfish generation is bigger, and obtained average speed is also bigger.

Since bionical jellyfish is to rely on what draining promoted, so in the unit time, displacement of volume more it is big it is getable just To active force it is also bigger.The influence that frequency moves bionical jellyfish in unit time is that frequency is bigger, bionical jellyfish movement Contraction diastole number is more, and the thrust that can be provided is also bigger.

A period of motion for bionical jellyfish is similar with the movement of true jellyfish, is promoted by way of draining.

The movement of bionical jellyfish provides power by steering engine, and the pivoting of steering engine makes the volume of water in bionical jellyfish cavity It reduces, bionical jellyfish mechanical arm is promoted to drain, drain so that bionical jellyfish obtains forward propulsive force.

Step 1 one, as shown in figure 4, design have one group of tentacle bionical jellyfish, according to each movement of true jellyfish Situation designs each period of motion of bionical jellyfish, provides the power of movement by steering engine for bionical jellyfish:

When steering engine drives mechanical arm to shrink, mechanical arm is pulled to be retracted at least radius, the bionical intracavitary volume of jellyfish subtracts It is small, the effect drained backward is generated, makes bionical jellyfish obtain forward propulsive force in such a way that mechanical arm drains, to push away Advance into bionical jellyfish；

When steering engine drives mechanical arm diastole, mechanical arm is pulled to return to diastole maximum radius position, the bionical intracavitary body of jellyfish Product increases, and one period of motion of bionical jellyfish terminates；Jellyfish of the present invention draining as shown in Figure 3 promotes schematic diagram；

To bionical jellyfish sending cycle motion control signal, bionical jellyfish carries out periodic contractile diastole campaign；

The effect by propulsive force, fluid resistance, additional tension stress, inertia force under water of step 1 two, bionical jellyfish, it is comprehensive It closes and states stress condition and obtain bionical jellyfish stress balance equation during the motion are as follows:

T=D+G+F (1)

Wherein, T indicates propulsive force, is the propulsive force opposite with drainage direction that bionical jellyfish discharge water generates；D indicates stream Body resistance is the resistance generated when the movement of fluid obstacle jellyfish；G indicates additional tension stress, is that bionical jellyfish athletic posture changes When drive surrounding fluid accelerate caused by active force；F indicates inertia force, is the inertia that bionical jellyfish has, to make bionical jellyfish The tendency of original athletic posture is kept, this trend is inertial force:

D (t)=0.5C_d(t)ρS(t)v²(t) (3)

By formula (1)-(5) simultaneous, bionical jellyfish kinetics equation is obtained:

In formula, C_d(t) indicate that profile drag coefficient, α (t) indicate extra coefficient of resistance；And:

Profile drag coefficient

Extra coefficient of resistance

Step 1 three, the bionical jellyfish items dimensional parameters of design, as shown in Figure 5:

Lateral area, intracavity liquid volume, projected area can indicate with following expressions, because it is contemplated that be intracavity liquid body Long-pending variation, so being substituted with cavity total volume change, without subtracting duct and watertight compartment volume again；

z₂(t)=l₁sin(θ₁(t))+z₁ (11)

z₃(t)=l₂sin(θ₂(t))+z₂(t) (12)

D (t)=max (2z₂(t),2z₃(t)) (13)

H (t)=h₁(t)+h₂(t)+z₁ (14)

h₁(t)=l₁cos(θ₁(t)) (15)

h₂(t)=l₂cos(θ₂(t)) (16)

Wherein, θ₁∈ (0 °~90 °), θ₂∈ (- 45 °~90 °)；T indicates thrust；D indicates fluid resistance；G indicates additional matter It measures one's own ability；F indicates inertia force；ρ indicates locating fluid density；V indicates the intracavitary containing fluid volume of bionical jellyfish；S_vIndicate bionical water Female lateral section area；C_dIndicate profile drag coefficient；S is expressed as bionical jellyfish projected area；V indicates bionical jellyfish movement speed Degree；α indicates extra coefficient of resistance；M indicates jellyfish quality；D (t) indicates dome diameter；H (t) indicates dome height；C_f,lam (t) skin friction resistance coefficient is indicated；Re (t) indicates Reynolds number；ν ' indicates fluid kinematic viscosity；τ indicates adjustment switch speed Positive time constant；S (τ y) indicates monopole S type function, e^-τyIndicate that emulation shape is the function of monopole S type；z₁Indicate hemispherical Head radius；l₁Indicate upperarm length；h₁Indicate the projection of upper arm on centerline；z₂Indicate upper arm around center line drawing radius of circle；θ₁ Indicate upper arm and centerlines；l₂Indicate lower brachium；h₂Indicate the projection of lower arm on centerline；z₃Indicate lower arm around center Line drawing radius of circle；θ₂Indicate lower arm and centerlines；K indicates the ratio of bionical jellyfish contraction time and diastolic time.

Specific embodiment 3:

Unlike specific embodiment two, the bionical underwater machine of jellyfish class based on improvement oscillator of present embodiment The motion control method of device people in the step two, is established the oscillator model in each joint of bionical jellyfish, is walked using anharmonic wave The generation method of state changes the process of the waveform of oscillator, specifically:

Step 2 one, using the movement in bionical one joint of jellyfish of single oscillator analog, using the amplitude of oscillator as The amplitude of corresponding joint movement, the frequency that the frequency of oscillator is moved as corresponding joint make the stiffness of coupling of oscillator The degree to interact between joint when being moved for bionical jellyfish；

Step 2 two, when designing, selecting suitable oscillator and consider the coupled modes of oscillator, needs synthesis is examined Consider following factor:

1, the overall structure of CPG, the main output for including type and quantity and the oscillator for determining oscillator is as drive The selection of the Torque Control signal of diarthrodial Angle-domain imaging signal or motor.And under normal circumstances a, oscillation Device corresponds to the one degree of freedom of joint of robot.

2, coupling type and topological structure between oscillator, this will affect oscillator and generates the synchronous condition between gait.

3, the waveform of oscillator, it determines the motion profile of each period intrinsic articulation, depends on selected oscillation Which kind of waveform that device generates, alternatively, it is also possible to be converted by the way that filter is added.

4, how influence of the Model Parameter to output signal, i.e. control parameter can adjust some important spies of oscillator Property, such as frequency, amplitude, delayed phase (in gait transition) or the waveform of oscillator.

Oscillator application is also needed to meet the following in bionical jellyfish:

5, nonlinear equation should be simple, to reduce the calculating time of microprocessor.

6, the definition of the frequency of output signal, amplitude and phase difference should be clear, is easily obtained to control the conversion of signal.

7, the switching of amplitude and frequency has preferable switch speed and stability in various situations.

8, the adjustment effect to CPG model is fed back in the influence of feedback signal.

Using a joint as an oscillator node, oscillator selects Hopf oscillator, generates for nervous centralis mode A kind of model of device, the movement in each joint is simulated by the simple harmonic oscillation of oscillator；Wherein, Hopf oscillator meets well 5,6 two o'clock, the basic model of Hopf oscillator are as follows:

In formula, x_i,y_iFor the output quantity of i-th of oscillator, and correspond to the rotation angle of bionical jellyfish steering engine；f_iIt is i-th The frequency of oscillation of a oscillator；

Step 2 three introduces parameter relevant to oscillator amplitude on the basis of step 2 two, forms limit stability ring, That is:

And w_i=2 π f_i,

Work as satisfaction:

Current amplitude r_iLevel off to amplitude R after stabilization；And x after stabilization_i,y_iOutput frequency be equal to the frequency that newly changes Rate is then capable of forming limit stability ring；

In formula, h (x_i,y_i, R) and it is about x_i,y_i, the function of R, R is the amplitude after stablizing；r_iIt indicates into current amplitude；

Step 2 four, according to above-mentioned condition 7, it is desirable to design a kind of oscillator mould of faster more stable switching of frequency amplitude Type designs h (x_i,y_i, R) and function obtains oscillator, and oscillator realizes the rhythmic movement in joint with certain amplitude convergence, and Can also adjusting amplitude and frequency to change the motion state in joint；Wherein, the equation of oscillator are as follows:

Wherein, k is positve term proportional coefficient；

Step 2 five, by oscillator application in each joint of bionical jellyfish, and each f_iIt is equal, then f_iFor bionical jellyfish Motion frequency；The output quantity x of oscillator_i,y_iThe control input quantity that can be used as bionical jellyfish, that is, correspond to the rudder in each joint Machine rotates angle；R is the amplitude of output waveform after stablizing, i.e., bionical jellyfish corresponds to the range of steering engine rotation angle, in application Need to zoom in or out R equal proportion to bionical jellyfish corresponding joint desired motion angular range；K is positve term proportional Coefficient, when oscillator receives external disturbance or reconciles the parameter of oscillator, the size of k value corresponds to oscillator constringency performance Quality, k is bigger, and oscillator convergence is faster, applies in bionical jellyfish, k value needs depending on the performance of practical steering engine, not It is the bigger the better.

Specific embodiment 4:

Unlike specific embodiment three, present embodiment is based on the bionical jellyfish class underwater for improving oscillator The motion control method of people, the motion frequency f of the bionical jellyfish_iA kind of generation anharmonic wave is provided using Chunlin Zhou The mode of gait, as shown in Fig. 2, setting different frequency involved in a cycle causes asymmetry of wave, the shape of waveform is determined The switching of frequency is determined, if higher-frequency component f₁It is ramp up phase, compared with low frequency component f₂It is decline phase, then:

Then total frequency can indicate are as follows:

In formula, f indicates sum frequency；f₁Indicate ramp up phase frequency；f₂Indicate decline phase frequency；α indicates period ascent stage The ratio in Zhan total period.

Specific embodiment 5:

Unlike specific embodiment four, present embodiment is based on the bionical jellyfish class underwater for improving oscillator The motion control method of people in the step three, designs the coupled modes between two oscillators, thereby determine that establish it is multiple Coupled modes between oscillator cooperate between joint where realizing multiple oscillators and coordinate, complete various motion modes, Realize the process of the control of bionical jellyfish total tune movement, specifically:

Movement for animal or people is all not only the movement in a joint, can be related to multiple joints and cooperate Coordinate, is finally reached the purpose of a certain motion mode.Such as the walking of people, hip joint, knee joint, ankle-joint etc. will be related to The collaboration in multiple joints.So bionical jellyfish is also required to by the coupling between multiple oscillators, the connection between Lai Jianli oscillator System, realizes the control of the whole coordinated movement of various economic factors.

Coupled modes between two step 3 one, design oscillators, are as follows:

In formula, c_ix_jStiffness of coupling for i-th of joint by j-th of joint x dimension output quantity；

If c₁c₂≠ 0, then it is bidirectional couple；

If c₁=0 | | c₂=0, then it is unidirectional couplings；

Step 3 two establishes coupled modes between multiple oscillators, expression are as follows:

As k=i, c_k=0；

Step 3 three expresses the coupling of oscillator by way of digraph, and each oscillator node is a vertex, It is coupled as side between oscillator, stiffness of coupling is the length on side；

Such as the coupled modes of 3 oscillators are represented by following matrixes,For the coupling terms c in oscillator i_jx_j, wherein

Above-mentioned part is the general coupled modes about oscillator, if oscillator application is needed later in bionical jellyfish The quantity of oscillator is determined according to the amount of articulation of bionical jellyfish；Oscillator is determined according to the symmetry in the joint of bionical jellyfish Distribution mode；According to the correlation between bionical jellyfish joint, determine whether couple between two oscillators；According to bionical jellyfish Actual application in gait switch frequent situation, determine by the way of unidirectional couplings or bidirectional couple.

Specific embodiment 6:

Unlike specific embodiment five, present embodiment is based on the bionical jellyfish class underwater for improving oscillator The motion control method of people, Fig. 4 illustrate the arrangement and coupled relation of the bionical jellyfish oscillator of the invention patent.

In the step three three, the quantity of oscillator is determined according to the amount of articulation of bionical jellyfish；According to bionical jellyfish The symmetry in joint determine the distribution mode of oscillator；According to the correlation between bionical jellyfish joint, two oscillations are determined Whether coupled between device；Frequent situation is converted according to gait in the actual application of bionical jellyfish, determines and uses unidirectional couplings Or the mode of bidirectional couple, specifically:

The distribution of oscillator is distributed using central symmetry in pairs；

Every tentacle of bionical jellyfish is considered as a driving mechanism, then does not use coupling between each branch driving mechanism, make it can With self-movement, facilitate realization divertical motion；And there is the feelings to interact for movement between the upper lower arm of every movement mechanism Condition, then only between lower arm on every movement mechanism using coupling；

Because unidirectional couplings can be reduced calculation amount compared to bidirectional couple, and not be key request in the conversion of quick gait In the case where be also able to satisfy the practical application of bio-robot, so herein, using unidirectional between our two oscillators The mode of coupling drives each tentacle of bionics machine acaleph；And mainly since the swing of upper arm is to lower arm between upper lower arm Movement bring influence, using the unidirectional couplings mode of lower end coupling upper end, and unidirectional couplings coupling factor is set to lower arm Oscillator equation in.

Specific embodiment 7:

Unlike specific embodiment six, present embodiment is based on the bionical jellyfish class underwater for improving oscillator The motion control method of people, it is 4-8 root that design described in step 1 one, which has the quantity of the bionical jellyfish of one group of tentacle,.

Specific embodiment 8:

Unlike specific embodiment seven, present embodiment is based on the bionical jellyfish class underwater for improving oscillator The motion control method of people, it is 4 that design described in step 1 one, which has the quantity of the bionical jellyfish of one group of tentacle,.

Specific embodiment 9:

Unlike specific embodiment eight, present embodiment is based on the bionical jellyfish class underwater for improving oscillator The motion control method of people, it is 6 that design described in step 1 one, which has the quantity of the bionical jellyfish of one group of tentacle,.

Specific embodiment 10:

From specific embodiment with regard to unlike, present embodiment is based on the bionical jellyfish class underwater for improving oscillator The motion control method of people, it is 8 that design described in step 1 one, which has the quantity of the bionical jellyfish of one group of tentacle,.

Specific embodiment 11:

Unlike specific embodiment ten, present embodiment is based on the bionical jellyfish class underwater for improving oscillator The motion control method of people, the oscillator model of bionical jellyfish and above-mentioned model are all slightly different, and depend primarily on bionical water The particularity of female shape and motion mode.The bionical jellyfish that the present invention uses designs a model with 8 joints, uses Oscillator be 8 oscillators；Bionical jellyfish has 4 driving mechanisms to be distributed about center line central symmetry, every driving mechanism It is made of two joints, the distribution of oscillator is distributed using central symmetry in pairs；For not used between 4 driving mechanisms Coupling, allows to self-movement, facilitates realization divertical motion；Every movement mechanism, there is mutual for movement between upper lower arm Influence, only between lower arm on every movement mechanism using coupling；Because unidirectional couplings can be reduced calculating compared to bidirectional couple Amount, and it is also able to satisfy the practical application of bio-robot in the case where the conversion of quick gait is not key request, so adopting Each tentacle of bionics machine acaleph is driven with the mode of two oscillator unidirectional couplings；And between upper lower arm mainly due to The swing of upper arm influences the movement bring of lower arm, so unidirectional couplings coupling factor is in the oscillator equation of lower arm；

The unidirectional couplings mode that lower end coupling upper end is used for the driving mechanism in each direction, for the upper of different directions Driving mechanism is held to use identical control parameter, to guarantee the coordinative coherence of jellyfish movement；Coupling parameter is indicated with matrix Then in 8 × 8 coupling matrix, in addition toOther items are 0；Wherein,Indicate upper end driving Stiffness of coupling of the mechanism to lower end driving mechanism；It for coupling parameter size is determined according to debugging in an experiment.

Specific embodiment 12:

A kind of method for control speed of bionical jellyfish class underwater robot of present embodiment, as shown in figure 11, the side Method the following steps are included:

Step 1: designing bionical jellyfish dynamic model；

Step 2: establishing the oscillator model in each joint of bionical jellyfish, vibration is changed using the generation method of anharmonic wave gait Swing the waveform of device；

Step 3: the coupled modes between two oscillators of design, thereby determine that the coupling established between multiple oscillators Mode cooperates between joint where realizing multiple oscillators and coordinates, completes various motion modes, realizes that bionical jellyfish is whole The control of the coordinated movement of various economic factors；

Since bionical jellyfish speed control is different from other bio-robots, speed is also cyclically-varying after stabilization Curve, to realize control biomimetics jellyfish speed, then speed control refers to the control to the average speed in the bionical jellyfish period System.But given expectation average speed cannot be used directly for motion control.

Frequency, amplitude, the asymmetry of wave ratio of oscillator can be used as the parameter input of bionical jellyfish motion control, Only the movement velocity that frequency is used for control biomimetics jellyfish as control variable is changed in the present invention.

Step 4: the motion control process according to step 3 draws frequency and average speed change curve；

Step 5: being found on average speed change curve according to average expectation speed when carrying out speed control in frequency Corresponding motion frequency passes through anharmonic wave gait oscillator equation in conjunction with bionical jellyfish kinetics equation further according to motion frequency Result extrapolate the cyclical velocity change curve after stablizing, and as desired speed；

Step 6: carrying out speed control by PID according to the desired speed of acquisition.Shown in attached drawing 18.

PID refers to PID controller, and Quan Mingwei proportional-integral derivative controller is one normal in Industry Control Application The feedback loop component seen is made of proportional unit P, integral unit I and differentiation element D.The basis of PID control is ratio control System；Integration control can eliminate steady-state error, but can increase overshoot；Differential control can accelerate Great inertia system response speed and Weaken overshoot trend.

This it is theoretical and application it is crucial that make correctly measurement and relatively after, how could preferably correcting system.

Specific embodiment 13:

Unlike specific embodiment 12, a kind of speed of bionical jellyfish class underwater robot of present embodiment Control method in the step one, designs the process of bionical jellyfish dynamic model are as follows:

The movement of jellyfish in water is the cycle movement with regular rhythm.The motion process of jellyfish can be subdivided into receipts Contracting stage and relaxed phases, close linking mutually between two periods of jellyfish are provided and are endlessly moved for the movement of jellyfish Power.The principal element for influencing bionical jellyfish movement velocity is the ratio of the volume, contraction time and the diastolic time that drain when movement.

Due to the particularity of bionical jellyfish movement, the effect relative to direction of motion forward direction is provided when cavity is shunk Power, and the active force relative to the reversing of motion can be generated when cavity diastole, so the ratio of contraction time and diastolic time Value is to consider the important parameter of bionical jellyfish movement.If the ratio of contraction time and diastolic time is k.K is between 0 to 1, k The propulsive force for being worth smaller bionical jellyfish generation is bigger, and obtained average speed is also bigger.

Since bionical jellyfish is to rely on what draining promoted, so in the unit time, displacement of volume more it is big it is getable just To active force it is also bigger.The influence that frequency moves bionical jellyfish in unit time is that frequency is bigger, bionical jellyfish movement Contraction diastole number is more, and the thrust that can be provided is also bigger.

A period of motion for bionical jellyfish is similar with the movement of true jellyfish, is promoted by way of draining.

The movement of bionical jellyfish provides power by steering engine, and the pivoting of steering engine makes the volume of water in bionical jellyfish cavity It reduces, bionical jellyfish mechanical arm is promoted to drain, drain so that bionical jellyfish obtains forward propulsive force.

Step 1 one, as shown in figure 14, bionical jellyfish of the design with one group of tentacle, according to each movement of true jellyfish Situation designs each period of motion of bionical jellyfish, provides the power of movement by steering engine for bionical jellyfish:

When steering engine drives mechanical arm to shrink, mechanical arm is pulled to be retracted at least radius, the bionical intracavitary volume of jellyfish subtracts It is small, the effect drained backward is generated, makes bionical jellyfish obtain forward propulsive force in such a way that mechanical arm drains, to push away Advance into bionical jellyfish；

When steering engine drives mechanical arm diastole, mechanical arm is pulled to return to diastole maximum radius position, the bionical intracavitary body of jellyfish Product increases, and one period of motion of bionical jellyfish terminates；Jellyfish draining of the present invention promotes schematic diagram as shown in fig. 13 that；

To bionical jellyfish sending cycle motion control signal, bionical jellyfish carries out periodic contractile diastole campaign；

The effect by propulsive force, fluid resistance, additional tension stress, inertia force under water of step 1 two, bionical jellyfish, it is comprehensive It closes and states stress condition and obtain bionical jellyfish stress balance equation during the motion are as follows:

T=D+G+F (1)

Wherein, T indicates propulsive force, is the propulsive force opposite with drainage direction that bionical jellyfish discharge water generates；D indicates stream Body resistance is the resistance generated when the movement of fluid obstacle jellyfish；G indicates additional tension stress, is that bionical jellyfish athletic posture changes When drive surrounding fluid accelerate caused by active force；F indicates inertia force, is the inertia that bionical jellyfish has, to make bionical jellyfish The tendency of original athletic posture is kept, this trend is inertial force:

D (t)=0.5C_d(t)ρS(t)v²(t) (3)

By formula (1)-(5) simultaneous, bionical jellyfish kinetics equation is obtained:

In formula, C_d(t) indicate that profile drag coefficient, α (t) indicate extra coefficient of resistance；And:

Profile drag coefficient

Extra coefficient of resistance

Step 1 three, the bionical jellyfish items dimensional parameters of design, as shown in figure 15:

Lateral area, intracavity liquid volume, projected area can indicate with following expressions, because it is contemplated that be intracavity liquid body Long-pending variation, so being substituted with cavity total volume change, without subtracting duct and watertight compartment volume again；

z₂(t)=l₁sin(θ₁(t))+z₁ (11)

z₃(t)=l₂sin(θ₂(t))+z₂(t) (12)

D (t)=max (2z₂(t),2z₃(t)) (13)

H (t)=h₁(t)+h₂(t)+z₁ (14)

h₁(t)=l₁cos(θ₁(t)) (15)

h₂(t)=l₂cos(θ₂(t)) (16)

Wherein, θ₁∈ (0 °~90 °), θ₂∈ (- 45 °~90 °)；T indicates thrust；D indicates fluid resistance；G indicates additional matter It measures one's own ability；F indicates inertia force；ρ indicates locating fluid density；V indicates the intracavitary containing fluid volume of bionical jellyfish；S_vIndicate bionical water Female lateral section area；C_dIndicate profile drag coefficient；S is expressed as bionical jellyfish projected area；V indicates bionical jellyfish movement speed Degree；α indicates extra coefficient of resistance；M indicates jellyfish quality；D (t) indicates dome diameter；H (t) indicates dome height；C_f,lam (t) skin friction resistance coefficient is indicated；Re (t) indicates Reynolds number；ν ' indicates fluid kinematic viscosity；τ indicates adjustment switch speed Positive time constant；S (τ y) indicates monopole S type function, e^-τyIndicate that emulation shape is the function of monopole S type；z₁Indicate hemispherical Head radius；l₁Indicate upperarm length；h₁Indicate the projection of upper arm on centerline；z₂Indicate upper arm around center line drawing radius of circle；θ₁ Indicate upper arm and centerlines；l₂Indicate lower brachium；h₂Indicate the projection of lower arm on centerline；z₃Indicate lower arm around center Line drawing radius of circle；θ₂Indicate lower arm and centerlines；K indicates the ratio of bionical jellyfish contraction time and diastolic time.

Specific embodiment 14:

Unlike specific embodiment 13, a kind of speed of bionical jellyfish class underwater robot of present embodiment Control method in the step two, establishes the oscillator model in each joint of bionical jellyfish, using the generation side of anharmonic wave gait Method changes the process of the waveform of oscillator, specifically:

Step 2 one, using the movement in bionical one joint of jellyfish of single oscillator analog, using the amplitude of oscillator as The amplitude of corresponding joint movement, the frequency that the frequency of oscillator is moved as corresponding joint make the stiffness of coupling of oscillator The degree to interact between joint when being moved for bionical jellyfish；

Step 2 two, when designing, selecting suitable oscillator and consider the coupled modes of oscillator, needs synthesis is examined Consider following factor:

1, the overall structure of CPG, the main output for including type and quantity and the oscillator for determining oscillator is as drive The selection of the Torque Control signal of diarthrodial Angle-domain imaging signal or motor.And under normal circumstances a, oscillation Device corresponds to the one degree of freedom of joint of robot.

2, coupling type and topological structure between oscillator, this will affect oscillator and generates the synchronous condition between gait.

3, the waveform of oscillator, it determines the motion profile of each period intrinsic articulation, depends on selected oscillation Which kind of waveform that device generates, alternatively, it is also possible to be converted by the way that filter is added.

4, how influence of the Model Parameter to output signal, i.e. control parameter can adjust some important spies of oscillator Property, such as frequency, amplitude, delayed phase (in gait transition) or the waveform of oscillator.

Oscillator application is also needed to meet the following in bionical jellyfish:

5, nonlinear equation should be simple, to reduce the calculating time of microprocessor.

6, the definition of the frequency of output signal, amplitude and phase difference should be clear, is easily obtained to control the conversion of signal.

7, the switching of amplitude and frequency has preferable switch speed and stability in various situations.

8, the adjustment effect to CPG model is fed back in the influence of feedback signal.

Using a joint as an oscillator node, oscillator selects Hopf oscillator, generates for nervous centralis mode A kind of model of device, the movement in each joint is simulated by the simple harmonic oscillation of oscillator；Wherein, Hopf oscillator meets well 5,6 two o'clock, the basic model of Hopf oscillator are as follows:

In formula, x_i,y_iFor the output quantity of i-th of oscillator, and correspond to the rotation angle of bionical jellyfish steering engine；f_iIt is i-th The frequency of oscillation of a oscillator；

Step 2 three introduces parameter relevant to oscillator amplitude on the basis of step 2 two, forms limit stability ring, That is:

And w_i=2 π f_i,

Work as satisfaction:

Current amplitude r_iLevel off to amplitude R after stabilization；And x after stabilization_i,y_iOutput frequency be equal to the frequency that newly changes Rate is then capable of forming limit stability ring；

In formula, h (x_i,y_i, R) and it is about x_i,y_i, the function of R, R is the amplitude after stablizing；r_iIt indicates into current amplitude；

Step 2 four, according to above-mentioned condition 7, it is desirable to design a kind of oscillator mould of faster more stable switching of frequency amplitude Type designs h (x_i,y_i, R) and function obtains oscillator, and oscillator realizes the rhythmic movement in joint with certain amplitude convergence, and Can also adjusting amplitude and frequency to change the motion state in joint；Wherein, the equation of oscillator are as follows:

Wherein, k is positve term proportional coefficient；

Step 2 five, by oscillator application in each joint of bionical jellyfish, and each f_iIt is equal, then f_iFor bionical jellyfish Motion frequency；The output quantity x of oscillator_i,y_iThe control input quantity that can be used as bionical jellyfish, that is, correspond to the rudder in each joint Machine rotates angle；R is the amplitude of output waveform after stablizing, i.e., bionical jellyfish corresponds to the range of steering engine rotation angle, in application Need to zoom in or out R equal proportion to bionical jellyfish corresponding joint desired motion angular range；K is positve term proportional Coefficient, when oscillator receives external disturbance or reconciles the parameter of oscillator, the size of k value corresponds to oscillator constringency performance Quality, k is bigger, and oscillator convergence is faster, applies in bionical jellyfish, k value needs depending on the performance of practical steering engine, not It is the bigger the better.

Specific embodiment 15:

Unlike specific embodiment 14, a kind of speed control of bionical jellyfish class underwater robot of present embodiment Method processed, the motion frequency f of the bionical jellyfish_iA kind of side generating anharmonic wave gait is provided using Chunlin Zhou Formula, as shown in figure 12, if different frequency involved in a cycle causes asymmetry of wave, the shape of waveform determines frequency Switching, if higher-frequency component f₁It is ramp up phase, compared with low frequency component f₂It is decline phase, then:

Then total frequency can indicate are as follows:

In formula, f indicates sum frequency；f₁Indicate ramp up phase frequency；f₂Indicate decline phase frequency；α indicates period ascent stage The ratio in Zhan total period.

Specific embodiment 16:

Unlike specific embodiment 15, a kind of speed control of bionical jellyfish class underwater robot of present embodiment Method processed in the step three, designs the coupled modes between two oscillators, thereby determines that and establish between multiple oscillators Coupled modes, cooperate and coordinate between joint where realizing multiple oscillators, complete various motion modes, realize bionical water The process of the control of female total tune movement, specifically:

Movement for animal or people is all not only the movement in a joint, can be related to multiple joints and cooperate Coordinate, is finally reached the purpose of a certain motion mode.Such as the walking of people, hip joint, knee joint, ankle-joint etc. will be related to The collaboration in multiple joints.So bionical jellyfish is also required to by the coupling between multiple oscillators, the connection between Lai Jianli oscillator System, realizes the control of the whole coordinated movement of various economic factors.

Coupled modes between two step 3 one, design oscillators, are as follows:

In formula, c_ix_jStiffness of coupling for i-th of joint by j-th of joint x dimension output quantity；

If c₁c₂≠ 0, then it is bidirectional couple；

If c₁=0 | | c₂=0, then it is unidirectional couplings；

Step 3 two establishes coupled modes between multiple oscillators, expression are as follows:

As k=i, c_k=0；

Step 3 three expresses the coupling of oscillator by way of digraph, and each oscillator node is a vertex, It is coupled as side between oscillator, stiffness of coupling is the length on side；

Such as the coupled modes of 3 oscillators are represented by following matrixes,For the coupling terms c in oscillator i_jx_j, In

Above-mentioned part is the general coupled modes about oscillator, if oscillator application is needed later in bionical jellyfish The quantity of oscillator is determined according to the amount of articulation of bionical jellyfish；Oscillator is determined according to the symmetry in the joint of bionical jellyfish Distribution mode；According to the correlation between bionical jellyfish joint, determine whether couple between two oscillators；According to bionical jellyfish Actual application in gait switch frequent situation, determine by the way of unidirectional couplings or bidirectional couple.

Specific embodiment 17:

Unlike specific embodiment 16, a kind of speed control of bionical jellyfish class underwater robot of present embodiment Method processed, Figure 14 illustrate the arrangement and coupled relation of the bionical jellyfish oscillator of the invention patent.

In the step three three, the quantity of oscillator is determined according to the amount of articulation of bionical jellyfish；According to bionical jellyfish The symmetry in joint determine the distribution mode of oscillator；According to the correlation between bionical jellyfish joint, two oscillations are determined Whether coupled between device；Frequent situation is converted according to gait in the actual application of bionical jellyfish, determines and uses unidirectional couplings Or the mode of bidirectional couple, specifically:

The distribution of oscillator is distributed using central symmetry in pairs；

Every tentacle of bionical jellyfish is considered as a driving mechanism, then does not use coupling between each branch driving mechanism, make it can With self-movement, facilitate realization divertical motion；And there is the feelings to interact for movement between the upper lower arm of every movement mechanism Condition, then only between lower arm on every movement mechanism using coupling；

Because unidirectional couplings can be reduced calculation amount compared to bidirectional couple, and not be key request in the conversion of quick gait In the case where be also able to satisfy the practical application of bio-robot, so herein, using unidirectional between our two oscillators The mode of coupling drives each tentacle of bionics machine acaleph；And mainly since the swing of upper arm is to lower arm between upper lower arm Movement bring influence, using the unidirectional couplings mode of lower end coupling upper end, and unidirectional couplings coupling factor is set to lower arm Oscillator equation in.

Specific embodiment 18:

Unlike specific embodiment 17, a kind of speed control of bionical jellyfish class underwater robot of present embodiment Method processed, it is 4-8 root that design described in step 1 one, which has the quantity of the bionical jellyfish of one group of tentacle,.

Specific embodiment 19:

Unlike specific embodiment 18, a kind of speed control of bionical jellyfish class underwater robot of present embodiment Method processed, it is 4 that design described in step 1 one, which has the quantity of the bionical jellyfish of one group of tentacle,.

Specific embodiment 20:

Unlike specific embodiment 19, a kind of speed control of bionical jellyfish class underwater robot of present embodiment Method processed, it is 6 that design described in step 1 one, which has the quantity of the bionical jellyfish of one group of tentacle,.

Specific embodiment 21:

Unlike specific embodiment 20, a kind of speed control of bionical jellyfish class underwater robot of present embodiment Method processed, it is 8 that design described in step 1 one, which has the quantity of the bionical jellyfish of one group of tentacle,.

Specific embodiment 22:

Unlike specific embodiment 21, a kind of speed of bionical jellyfish class underwater robot of present embodiment Control method, the oscillator model of bionical jellyfish and above-mentioned model are all slightly different, and depend primarily on the shape of bionical jellyfish And the particularity of motion mode.The bionical jellyfish that the present invention uses designs a model with 8 joints, the oscillator of use For 8 oscillators；Bionical jellyfish has 4 driving mechanisms to be distributed about center line central symmetry, and every driving mechanism is closed by two Section is constituted, and the distribution of oscillator is distributed using central symmetry in pairs；For not using coupling between 4 driving mechanisms, make It can facilitate realization divertical motion with self-movement；Every movement mechanism, movement is there is interacting between upper lower arm, only It is coupled to being used between lower arm on every movement mechanism；Because unidirectional couplings can be reduced calculation amount compared to bidirectional couple, and The practical application of bio-robot is also able to satisfy in the case where the conversion of quick gait is not key request, so shaking using two The mode of device unidirectional couplings is swung to drive each tentacle of bionics machine acaleph；And mainly due to the pendulum of upper arm between upper lower arm It is dynamic that the movement bring of lower arm is influenced, so unidirectional couplings coupling factor is in the oscillator equation of lower arm；

The unidirectional couplings mode that lower end coupling upper end is used for the driving mechanism in each direction, for the upper of different directions Driving mechanism is held to use identical control parameter, to guarantee the coordinative coherence of jellyfish movement；Coupling parameter is indicated with matrix Then in 8 × 8 coupling matrix, in addition toOther items are 0；Wherein,In expression Hold driving mechanism to the stiffness of coupling of lower end driving mechanism；It for coupling parameter size is determined according to debugging in an experiment.

(1), the emulation experiment of motion control method

Bionical jellyfish power designed by the invention patent is can be obtained into formula (1)-(5) simultaneous convolution (11)-(18) Learn model.

Kinetic parameters are shown in Table 1, table 2.

Table 1, every structural parameters that table 2 is bionical jellyfish:

1 jellyfish static structure parameter of table

2 other parameters of table

Simulation analysis

For the feasibility for verifying this patent algorithm, the influence of frequency, amplitude to oscillator model rate of convergence.Pass through change The frequency of oscillation of oscillator changes influence of the amplitude to the output quantity of oscillator, reaches the motion state for adjusting bio-robot Purpose.So the switch speed of frequency of oscillation or amplitude is the factor for measuring oscillator quality.Ideal oscillator should Switching with faster frequency and amplitude simultaneously has stability, is just able to satisfy the bio-robot in practical various situations in this way Application.With the single oscillator model of formula (3).

The case where Fig. 6 is that simulation monostable oscillator amplitude is constant, frequency error factor:

From 3s start frequency f_i2 are switched to from 1, switching time about half period, amplitude R is 1, and proportional coefficient k is 10. It can be found that the oscillator has stability in Fig. 6, and response speed is very fast in frequency error factor.

Simulate the switching of amplitude, frequency f_iIt is 1, proportional coefficient k is 10.Fig. 7 amplitude R is switched to 2, Fig. 8 by 1 in 3s and exists 3s amplitude R is switched to 1 by 2.Amplitude is divided into for the switching of amplitude and increases and decreases two kinds of situations, switching time is respectively less than one Period.

Oscillator model designed by the invention patent can be within half of period of motion under the influence of frequency and amplitude Reach desired convergence effect, there is good convergence and stability.The motion control that the invention patent is proposed below Method combines bionical jellyfish kinetic model to be emulated.

Combine table 1, table 2 that can obtain the bionical jellyfish kinetics equation for being suitable for designing herein for formula (6) to (18), and formula (22), (23), (21), (26), (27) can even obtain the anharmonic wave gait coupling for being suitable for the bionical jellyfish designed herein immediately Oscillator equation.Anharmonic wave gait oscillator equation is subjected to bionical jellyfish motion simulation in conjunction with bionical jellyfish kinetics equation The bionical jellyfish speed displacement change curve in the case of Fig. 9, Figure 10 can be obtained.

Fig. 9 and Figure 10 is sum frequency 0.2, α=0.8, and the bionical jellyfish speed in the case of initial velocity 2m/s becomes at any time Change curve and the displacement of bionical jellyfish changes over time curve.When bionical jellyfish mechanical arm is shunk, speed is fast as can be seen from Figure 9 Speed increases, and in bionical jellyfish mechanical arm diastole, speed slowly reduces, the stabilization average speed of the movement of bionical jellyfish 0.2017m/s.Although there are lesser fluctuations for curve as can be seen from Figure 10, bionical jellyfish movement is persistently to travel forward Posture, bionical jellyfish reach maximum displacement 9.8233m in 40s.

(2), the emulation experiment of method for control speed

Common steering engine maximum angular velocity of rotation is 0.13s/60 °, so setting upper frequency limit is 2.6s when emulation^-1.Figure 16 For α=0.6,0.7,0.8, initial velocity 0m/s, frequency sampling ranges [0,2.6] frequency and are put down after stablizing when sample frequency 0.1 Equal speed homologous thread.According to the corresponding motion frequency of the available expectation average speed of the curve.α=0.7, initial velocity are 0.1, when pid parameter is respectively 10,1,1, desired speed 1.326.

Simulation analysis

Bionical jellyfish kinetics equation can be obtained in joint type (1)-(5), and formula (11)-(18) are combined to the number of table 1, table 2 The Kinetic model for substrate of bionical jellyfish designed by the invention patent can be obtained according to bionical jellyfish kinetics equation is brought into.

By formula (23), (21), the available bionical jellyfish anharmonic oscillator model of (26) simultaneous, then by the oscillation of Figure 14 Device coupled relation brings bionical jellyfish anharmonic wave designed by available this patent in bionical jellyfish anharmonic oscillator model into Oscillator equation.Finally by the Kinetic model for substrate of above-mentioned bionical jellyfish, bionical jellyfish anharmonic oscillator equation and the present invention The bionical jellyfish method for control speed that patent is proposed combines the simulation result that Figure 17 can be obtained.As can be seen from Figure 17 originally The bionical jellyfish method for control speed that patent of invention is proposed realizes the speed control of bionical jellyfish, makes the average rate of bionical jellyfish Stablize in 1.326m/s.

The present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, this field Technical staff makes various corresponding changes and modifications in accordance with the present invention, but these corresponding changes and modifications all should belong to The protection scope of the appended claims of the present invention.

Claims (10)

1. the motion control method based on the bionical jellyfish class underwater robot for improving oscillator, it is characterised in that: the method The following steps are included:

Step 1: designing bionical jellyfish dynamic model；

Step 2: establishing the oscillator model in each joint of bionical jellyfish, oscillator is changed using the generation method of anharmonic wave gait Waveform；

Step 3: the coupled modes between two oscillators of design, thereby determine that the coupled modes established between multiple oscillators, It cooperates and coordinates between joint where realizing multiple oscillators, complete various motion modes, realize bionical jellyfish total tune The control of movement.

2. the motion control method according to claim 1 based on the bionical jellyfish class underwater robot for improving oscillator, It is characterized by: designing the process of bionical jellyfish dynamic model in the step one are as follows:

Step 1 one, design have the bionical jellyfish of one group of tentacle, design bionical water according to each motion conditions of true jellyfish Female each period of motion, the power of movement is provided for bionical jellyfish by steering engine:

When steering engine drives mechanical arm to shrink, mechanical arm is pulled to be retracted at least radius, the bionical intracavitary volume of jellyfish reduces, and produces The raw effect drained backward makes bionical jellyfish obtain forward propulsive force in such a way that mechanical arm drains, to promote imitative Unboiled water mother advances；

When steering engine drives mechanical arm diastole, mechanical arm is pulled to return to diastole maximum radius position, the bionical intracavitary volume of jellyfish increases Greatly, one period of motion of bionical jellyfish terminates；

To bionical jellyfish sending cycle motion control signal, bionical jellyfish carries out periodic contractile diastole campaign；

Step 1 two, bionical the jellyfish effect by propulsive force, fluid resistance, additional tension stress, inertia force under water, in synthesis It states stress condition and obtains bionical jellyfish stress balance equation during the motion are as follows:

T=D+G+F (1)

Wherein, T indicates propulsive force, is the propulsive force opposite with drainage direction that bionical jellyfish discharge water generates；D indicates fluid resistance Power is the resistance generated when the movement of fluid obstacle jellyfish；G indicates additional tension stress, is band when bionical jellyfish athletic posture changes Active force caused by dynamic surrounding fluid accelerates；F indicates inertia force, is the inertia that bionical jellyfish has, to keep bionical jellyfish The tendency of original athletic posture, this trend are inertial force:

D (t)=0.5C_d(t)ρS(t)v²(t) (3)

By formula (1)-(5) simultaneous, bionical jellyfish kinetics equation is obtained:

In formula, C_d(t) indicate that profile drag coefficient, α (t) indicate extra coefficient of resistance；And:

Profile drag coefficient

Extra coefficient of resistance

Step 1 three, the bionical jellyfish items dimensional parameters of design:

Lateral area, intracavity liquid volume, projected area expression formula are as follows:

z₂(t)=l₁sin(θ₁(t))+z₁ (11)

z₃(t)=l₂sin(θ₂(t))+z₂(t) (12)

D (t)=max (2z₂(t),2z₃(t)) (13)

H (t)=h₁(t)+h₂(t)+z₁ (14)

h₁(t)=l₁cos(θ₁(t)) (15)

h₂(t)=l₂cos(θ₂(t)) (16)

Wherein, θ₁∈ (0 °~90 °), θ₂∈ (- 45 °~90 °)；T indicates thrust；D indicates fluid resistance；G indicates additional mass Power；F indicates inertia force；ρ indicates locating fluid density；V indicates the intracavitary containing fluid volume of bionical jellyfish；S_vIndicate bionical jellyfish Lateral section area；C_dIndicate profile drag coefficient；S is expressed as bionical jellyfish projected area；V indicates bionical jellyfish movement velocity；λ Indicate extra coefficient of resistance；M indicates jellyfish quality；D (t) indicates dome diameter；H (t) indicates dome height；C_f,lam(t) Indicate skin friction resistance coefficient；Re (t) indicates Reynolds number；ν ' indicates fluid kinematic viscosity；τ is indicating adjustment switch speed just Time constant；S (τ y) indicates monopole S type function, e^-τyIndicate that emulation shape is the function of monopole S type；z₁Indicate hemispherical nose Radius；l₁Indicate upperarm length；h₁Indicate the projection of upper arm on centerline；z₂Indicate upper arm around center line drawing radius of circle；θ₁It indicates Upper arm and centerlines；l₂Indicate lower brachium；h₂Indicate the projection of lower arm on centerline；z₃Indicate lower arm around center line drawing Radius of circle；θ₂Indicate lower arm and centerlines；K indicates the ratio of bionical jellyfish contraction time and diastolic time.

3. the motion control method according to claim 2 based on the bionical jellyfish class underwater robot for improving oscillator, It is characterized by: the oscillator model in each joint of bionical jellyfish is established in the step two, using the generation of anharmonic wave gait Method changes the process of the waveform of oscillator, specifically:

Step 2 one, using the movement in bionical one joint of jellyfish of single oscillator analog, using the amplitude of oscillator as corresponding to The amplitude of joint motions, the frequency that the frequency of oscillator is moved as corresponding joint, using the stiffness of coupling of oscillator as imitative The degree to interact between joint when unboiled water mother moves；

Step 2 two, using a joint as an oscillator node, oscillator selects Hopf oscillator, passes through the letter of oscillator The movement in each joint is simulated in harmonic motion；Wherein, the basic model of Hopf oscillator are as follows:

In formula, x_i,y_iFor the output quantity of i-th of oscillator, and correspond to the rotation angle of bionical jellyfish steering engine；f_iIt shakes for i-th Swing the frequency of oscillation of device；

Step 2 three introduces parameter relevant to oscillator amplitude on the basis of step 2 two, forms limit stability ring, it may be assumed that

And w_i=2 π f_i,

Work as satisfaction:

Current amplitude r_iLevel off to amplitude R after stabilization；And x after stabilization_i,y_iOutput frequency be equal to the frequency that newly changes, then It is capable of forming limit stability ring；

In formula, h (x_i,y_i, R) and it is about x_i,y_i, the function of R, R is the amplitude after stablizing；r_iIt indicates into current amplitude；

Step 2 four, design h (x_i,y_i, R) and function obtains oscillator, and oscillator realizes the rhythm and pace of moving things in joint with certain amplitude convergence Movement, and can also adjusting amplitude and frequency to change the motion state in joint；Wherein, the equation of oscillator are as follows:

Wherein, k is positve term proportional coefficient；

Step 2 five, by oscillator application in each joint of bionical jellyfish, and each f_iIt is equal, then f_iFor the fortune of bionical jellyfish Dynamic frequency；The output quantity x of oscillator_i,y_iThe control input quantity that can be used as bionical jellyfish corresponds to the steering engine rotation in each joint Gyration；R is the amplitude of output waveform after stablizing, i.e., bionical jellyfish corresponds to the range of steering engine rotation angle, is needed in application By R equal proportion zoom in or out to bionical jellyfish corresponding joint desired motion angular range；K is positve term proportional system Number, when oscillator receives external disturbance or reconciles the parameter of oscillator, the size of k value corresponds to the good of oscillator constringency performance It is bad, it applies in bionical jellyfish, k value needs depending on the performance of practical steering engine；Wherein, the movement frequency of the bionical jellyfish Rate f_iBy the way of anharmonic wave gait, if different frequency involved in a cycle causes asymmetry of wave, the shape of waveform Shape determines the switching of frequency, if higher-frequency component f₁It is ramp up phase, compared with low frequency component f₂It is decline phase, then:

Then total frequency can indicate are as follows:

In formula, f indicates sum frequency；f₁Indicate ramp up phase frequency；f₂Indicate decline phase frequency；α indicates that period ascent stage Zhan is total The ratio in period.

4. the motion control method according to claim 3 based on the bionical jellyfish class underwater robot for improving oscillator, It is characterized by: designing the coupled modes between two oscillators in the step three, thereby determines that and establish multiple oscillators Between coupled modes, cooperate and coordinate between joint where realizing multiple oscillators, complete various motion modes, realize imitative The process of the control of unboiled water mother's total tune movement, specifically:

Coupled modes between two step 3 one, design oscillators, are as follows:

In formula, c_ix_jStiffness of coupling for i-th of joint by j-th of joint x dimension output quantity；

If c₁c₂≠ 0, then it is bidirectional couple；

If c₁=0 | | c₂=0, then it is unidirectional couplings；

Step 3 two establishes coupled modes between multiple oscillators, expression are as follows:

As k=i, c_k=0；

Step 3 three expresses the coupling of oscillator by way of digraph, and each oscillator node is a vertex, oscillation It is coupled as side between device, stiffness of coupling is the length on side；The number of oscillator is determined according to the amount of articulation of bionical jellyfish later Amount；The distribution mode of oscillator is determined according to the symmetry in the joint of bionical jellyfish；According to the correlation between bionical jellyfish joint Property, determine whether couple between two oscillators；Switch frequent situation according to gait in the actual application of bionical jellyfish, really Surely by the way of unidirectional couplings or bidirectional couple；Wherein, the quantity of oscillator is determined according to the amount of articulation of bionical jellyfish；Root The distribution mode of oscillator is determined according to the symmetry in the joint of bionical jellyfish；According to the correlation between bionical jellyfish joint, really Whether coupled between fixed two oscillators；Frequent situation is converted according to gait in the actual application of bionical jellyfish, determination is adopted With unidirectional couplings or the mode of bidirectional couple, specifically:

The distribution of oscillator is distributed using central symmetry in pairs；

Every tentacle of bionical jellyfish is considered as a driving mechanism, then does not use coupling between each branch driving mechanism, allows to solely Vertical movement, facilitates realization divertical motion；And movement is there is interacting between the upper lower arm of every movement mechanism, then Using coupling between lower arm on every movement mechanism；

Each tentacle of bionics machine acaleph is driven between two oscillators by the way of unidirectional couplings；And between upper lower arm Using the unidirectional couplings mode of lower end coupling upper end, and unidirectional couplings coupling factor is set in the oscillator equation of lower arm.

5. the motion control method according to claim 4 based on the bionical jellyfish class underwater robot for improving oscillator, It is characterized by: it is 8 that the bionical jellyfish of design described in step 1 one, which has the quantity of one group of tentacle, bionical jellyfish designs mould Type has 8 joints, and the oscillator used is 8 oscillator；Bionical jellyfish has 4 driving mechanisms about center line central symmetry Distribution, every driving mechanism are made of two joints, and the distribution of oscillator is distributed using central symmetry in pairs；For 4 Coupling is not used between driving mechanism, allows to self-movement, facilitates realization divertical motion；Every movement mechanism, upper lower arm Between movement there is interacting, only between lower arm on every movement mechanism using coupling；It is unidirectional using two oscillators The mode of coupling drives each tentacle of bionics machine acaleph；And mainly since the swing of upper arm is to lower arm between upper lower arm Movement bring influence, unidirectional couplings coupling factor is in the oscillator equation of lower arm；

The unidirectional couplings mode that lower end coupling upper end is used for the driving mechanism in each direction drives the upper end of different directions Motivation structure uses identical control parameter, to guarantee the coordinative coherence of jellyfish movement；Coupling parameter is indicated with matrix, is In 8 × 8 coupling matrix, in addition toOther items are 0；Wherein,Indicate upper end driving mechanism pair The stiffness of coupling of lower end driving mechanism.

6. a kind of method for control speed of bionical jellyfish class underwater robot, it is characterised in that: the described method comprises the following steps:

Step 1: designing bionical jellyfish dynamic model；

Step 2: establishing the oscillator model in each joint of bionical jellyfish, oscillator is changed using the generation method of anharmonic wave gait Waveform；

Step 3: the coupled modes between two oscillators of design, thereby determine that the coupled modes established between multiple oscillators, It cooperates and coordinates between joint where realizing multiple oscillators, complete various motion modes, realize bionical jellyfish total tune The control of movement；

Step 4: the motion control process according to step 3 draws frequency and average speed change curve；

Step 5: finding corresponding motion frequency, then root according to average expectation speed on average speed change curve in frequency After extrapolating stabilization by result of the anharmonic wave gait oscillator equation in conjunction with bionical jellyfish kinetics equation according to motion frequency Cyclical velocity change curve, and as desired speed；

Step 6: carrying out speed control by PID according to the desired speed of acquisition.

7. a kind of method for control speed of bionical jellyfish class underwater robot according to claim 5, it is characterised in that: institute In the step of stating one, the process of bionical jellyfish dynamic model is designed are as follows:

Step 1 one, design have the bionical jellyfish of one group of tentacle, design bionical water according to each motion conditions of true jellyfish Female each period of motion, the power of movement is provided for bionical jellyfish by steering engine:

When steering engine drives mechanical arm to shrink, mechanical arm is pulled to be retracted at least radius, the bionical intracavitary volume of jellyfish reduces, and produces The raw effect drained backward makes bionical jellyfish obtain forward propulsive force in such a way that mechanical arm drains, to promote imitative Unboiled water mother advances；

When steering engine drives mechanical arm diastole, mechanical arm is pulled to return to diastole maximum radius position, the bionical intracavitary volume of jellyfish increases Greatly, one period of motion of bionical jellyfish terminates；

To bionical jellyfish sending cycle motion control signal, bionical jellyfish carries out periodic contractile diastole campaign；

Step 1 two, bionical the jellyfish effect by propulsive force, fluid resistance, additional tension stress, inertia force under water, in synthesis It states stress condition and obtains bionical jellyfish stress balance equation during the motion are as follows:

T=D+G+F (1)

Wherein, T indicates propulsive force, is the propulsive force opposite with drainage direction that bionical jellyfish discharge water generates；D indicates fluid resistance Power is the resistance generated when the movement of fluid obstacle jellyfish；G indicates additional tension stress, is band when bionical jellyfish athletic posture changes Active force caused by dynamic surrounding fluid accelerates；F indicates inertia force, is the inertia that bionical jellyfish has, to keep bionical jellyfish The tendency of original athletic posture, this trend are inertial force:

D (t)=0.5C_d(t)ρS(t)v²(t) (3)

By formula (1)-(5) simultaneous, bionical jellyfish kinetics equation is obtained:

In formula, C_d(t) indicate that profile drag coefficient, α (t) indicate extra coefficient of resistance；And:

Profile drag coefficient

Extra coefficient of resistanceStep 1 three, the bionical water of design Female items dimensional parameters:

Lateral area, intracavity liquid volume, projected area expression formula are as follows:

z₂(t)=l₁sin(θ₁(t))+z₁ (11)

z₃(t)=l₂sin(θ₂(t))+z₂(t) (12)

D (t)=max (2z₂(t),2z₃(t)) (13)

H (t)=h₁(t)+h₂(t)+z₁ (14)

h₁(t)=l₁cos(θ₁(t)) (15)

h₂(t)=l₂cos(θ₂(t)) (16)

Wherein, θ₁∈ (0 °~90 °), θ₂∈ (- 45 °~90 °)；T indicates thrust；D indicates fluid resistance；G indicates additional mass Power；F indicates inertia force；ρ indicates locating fluid density；V indicates the intracavitary containing fluid volume of bionical jellyfish；S_vIndicate bionical jellyfish Lateral section area；C_dIndicate profile drag coefficient；S is expressed as bionical jellyfish projected area；V indicates bionical jellyfish movement velocity；λ Indicate extra coefficient of resistance；M indicates jellyfish quality；D (t) indicates dome diameter；H (t) indicates dome height；C_f,lam(t) Indicate skin friction resistance coefficient；Re (t) indicates Reynolds number；ν ' indicates fluid kinematic viscosity；τ is indicating adjustment switch speed just Time constant；S (τ y) indicates monopole S type function, e^-τyIndicate that emulation shape is the function of monopole S type；z₁Indicate hemispherical nose Radius；l₁Indicate upperarm length；h₁Indicate the projection of upper arm on centerline；z₂Indicate upper arm around center line drawing radius of circle；θ₁It indicates Upper arm and centerlines；l₂Indicate lower brachium；h₂Indicate the projection of lower arm on centerline；z₃Indicate lower arm around center line drawing Radius of circle；θ₂Indicate lower arm and centerlines；K indicates the ratio of bionical jellyfish contraction time and diastolic time.

8. a kind of method for control speed of bionical jellyfish class underwater robot according to claim 7, it is characterised in that: institute In the step of stating two, the oscillator model in each joint of bionical jellyfish is established, oscillation is changed using the generation method of anharmonic wave gait The process of the waveform of device, specifically:

Step 2 one, using the movement in bionical one joint of jellyfish of single oscillator analog, using the amplitude of oscillator as corresponding to The amplitude of joint motions, the frequency that the frequency of oscillator is moved as corresponding joint, using the stiffness of coupling of oscillator as imitative The degree to interact between joint when unboiled water mother moves；

Step 2 two, using a joint as an oscillator node, oscillator selects Hopf oscillator, passes through the letter of oscillator The movement in each joint is simulated in harmonic motion；Wherein, the basic model of Hopf oscillator are as follows:

In formula, x_i,y_iFor the output quantity of i-th of oscillator, and correspond to the rotation angle of bionical jellyfish steering engine；f_iIt shakes for i-th Swing the frequency of oscillation of device；

Step 2 three introduces parameter relevant to oscillator amplitude on the basis of step 2 two, forms limit stability ring, it may be assumed that

And w_i=2 π f_i,

Work as satisfaction:

Current amplitude r_iLevel off to amplitude R after stabilization；And x after stabilization_i,y_iOutput frequency be equal to the frequency that newly changes, then It is capable of forming limit stability ring；

In formula, h (x_i,y_i, R) and it is about x_i,y_i, the function of R, R is the amplitude after stablizing；r_iIt indicates into current amplitude；

Step 2 four, design h (x_i,y_i, R) and function obtains oscillator, and oscillator realizes the rhythm and pace of moving things in joint with certain amplitude convergence Movement, and can also adjusting amplitude and frequency to change the motion state in joint；Wherein, the equation of oscillator are as follows:

Wherein, k is positve term proportional coefficient；

Step 2 five, by oscillator application in each joint of bionical jellyfish, and each f_iIt is equal, f_iFor the movement of bionical jellyfish Frequency；The output quantity x of oscillator_i,y_iThe control input quantity that can be used as bionical jellyfish corresponds to the steering engine rotation in each joint Angle；R is the amplitude of output waveform after stablizing, i.e., bionical jellyfish corresponds to the range of steering engine rotation angle, is needed in application by R Equal proportion zoom in or out to bionical jellyfish corresponding joint desired motion angular range；K is positve term proportional coefficient, when When oscillator receives external disturbance or reconciles the parameter of oscillator, the size of k value corresponds to the quality of oscillator constringency performance, answers When used in bionical jellyfish, k value needs depending on the performance of practical steering engine；Wherein, the motion frequency f of the bionical jellyfish_i By the way of anharmonic wave gait, if different frequency involved in a cycle causes asymmetry of wave, the shape of waveform is determined The switching of frequency is determined, if higher-frequency component f₁It is ramp up phase, compared with low frequency component f₂It is decline phase, then:

Then total frequency can indicate are as follows:

In formula, f indicates sum frequency；f₁Indicate ramp up phase frequency；f₂Indicate decline phase frequency；α indicates that period ascent stage Zhan is total The ratio in period.

9. a kind of method for control speed of bionical jellyfish class underwater robot according to claim 8, it is characterised in that: institute In the step of stating three, the coupled modes between two oscillators are designed, thereby determine that the coupling side established between multiple oscillators Formula cooperates between joint where realizing multiple oscillators and coordinates, completes various motion modes, realize that bionical jellyfish is integrally assisted The process of the dynamic control of allocation and transportation, specifically:

Coupled modes between two step 3 one, design oscillators, are as follows:

In formula, c_ix_jStiffness of coupling for i-th of joint by j-th of joint x dimension output quantity；

If c₁c₂≠ 0, then it is bidirectional couple；

If c₁=0 | | c₂=0, then it is unidirectional couplings；

Step 3 two establishes coupled modes between multiple oscillators, expression are as follows:

As k=i, c_k=0；

Step 3 three expresses the coupling of oscillator by way of digraph, and each oscillator node is a vertex, oscillation It is coupled as side between device, stiffness of coupling is the length on side；The number of oscillator is determined according to the amount of articulation of bionical jellyfish later Amount；The distribution mode of oscillator is determined according to the symmetry in the joint of bionical jellyfish；According to the correlation between bionical jellyfish joint Property, determine whether couple between two oscillators；Switch frequent situation according to gait in the actual application of bionical jellyfish, really Surely by the way of unidirectional couplings or bidirectional couple；

And in step 3 three, the quantity of oscillator is determined according to the amount of articulation of bionical jellyfish；According to the joint of bionical jellyfish Symmetry determines the distribution mode of oscillator；According to the correlation between bionical jellyfish joint, determining between two oscillators is No coupling；Frequent situation is converted according to gait in the actual application of bionical jellyfish, determines and uses unidirectional couplings or two-way coupling The mode of conjunction, specifically:

The distribution of oscillator is distributed using central symmetry in pairs；

Every tentacle of bionical jellyfish is considered as a driving mechanism, then does not use coupling between each branch driving mechanism, allows to solely Vertical movement, facilitates realization divertical motion；And movement is there is interacting between the upper lower arm of every movement mechanism, then Using coupling between lower arm on every movement mechanism；

Each tentacle of bionics machine acaleph is driven between two oscillators by the way of unidirectional couplings；And between upper lower arm Using the unidirectional couplings mode of lower end coupling upper end, and unidirectional couplings coupling factor is set in the oscillator equation of lower arm.

10. a kind of method for control speed of bionical jellyfish class underwater robot according to claim 9, it is characterised in that: The quantity of one group of tentacle of the bionical jellyfish of design described in step 1 one is 4, and bionical jellyfish designs a model with 8 joints, The oscillator used is 8 oscillator；Bionical jellyfish has 4 driving mechanisms to be distributed about center line central symmetry, every driving Mechanism is made of two joints, and the distribution of oscillator is distributed using central symmetry in pairs；For between 4 driving mechanisms not Using coupling, allow to self-movement, facilitates realization divertical motion；Every movement mechanism, between upper lower arm movement there is Interact, only between lower arm on every movement mechanism using coupling；It is driven by the way of two oscillator unidirectional couplings Each tentacle of dynamic bionics machine acaleph；And mainly since the swing of upper arm is to the movement bring shadow of lower arm between upper lower arm It rings, unidirectional couplings coupling factor is in the oscillator equation of lower arm；

The unidirectional couplings mode that lower end coupling upper end is used for the driving mechanism in each direction drives the upper end of different directions Motivation structure uses identical control parameter, to guarantee the coordinative coherence of jellyfish movement；Coupling parameter is indicated with matrix, is In 8 × 8 coupling matrix, in addition toOther items are 0；Wherein,Indicate upper end driving mechanism To the stiffness of coupling of lower end driving mechanism.