CN109976233A - A kind of motion control method and control system of three-dimensional motion machine fish - Google Patents
A kind of motion control method and control system of three-dimensional motion machine fish Download PDFInfo
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- CN109976233A CN109976233A CN201910340558.7A CN201910340558A CN109976233A CN 109976233 A CN109976233 A CN 109976233A CN 201910340558 A CN201910340558 A CN 201910340558A CN 109976233 A CN109976233 A CN 109976233A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
Abstract
The invention discloses the motion control methods and control system of a kind of three-dimensional motion machine fish, the Motion Control Network of machine fish is formed by the combination of multiple CPG units first, establish the CPG differential equation of each CPG unit, then discrete solution is carried out using the CPG differential equation of the Euler method to foundation, convenience of calculation, calculated result are accurate；For necessary the factor of rhythmic movement control: phase difference, frequency and amplitude can pass through adjusting or adjusting respectively simultaneously and reach the adjusting to final output signal z to phase difference, frequency and amplitude by the progress parameter adjustment of the CPG differential equation；It is corresponding to it and is controlled to adjust by specific parameter for the necessary factor of rhythmic movement control, gait of moving about is more stable flexibly, it is more convenient to adjust, the present invention is for further learning and understanding that the travelling mechanism of true fish and machine fish has very big facilitation, while also the raising for the switching of machine fish different motion mode, mobility and flexibility provides theoretical basis.
Description
Technical field
The invention belongs to bionic machine fish field, the motion control method of especially a kind of three-dimensional motion machine fish and control
System.
Background technique
Motion control method based on kinematics model, kinetic model is the classic control method in machine fish control,
These two kinds of methods control thought is simple, is easily achieved, but has the mobility for limiting machine fish and flexibility, is mutated to parameter
Bad adaptability, be not easy adjust and optimize etc. fatal disadvantage.Therefore just it has been born a kind of novel for robot fish movement control
The method of system --- it is based on the motion control method of central pattern generator (cpg) (CPG), since CPG control method can produce stabilization
Circadian signal, mobility and flexibility be good, strong robustness so that the motion control method based on CPG is substantially better than first two
Method, therefore the method based on CPG model will become the motion control method of the following mainstream.But existing CPG model generally compared with
For complicated (such as the nonlinear element containing height, dyscalculia), for the necessary factor that rhythmic movement controls, as phase,
Frequency, amplitude etc., none specific parameter are corresponding to it, this brings many difficult and application upper to the research of CPG model
Inconvenience.
Summary of the invention
The purpose of the present invention is to provide the motion control methods and control system of a kind of three-dimensional motion machine fish, to overcome
The deficiencies in the prior art.
In order to achieve the above objectives, the present invention adopts the following technical scheme:
A kind of motion control method of three-dimensional motion machine fish, comprising the following steps:
Step 1), the Motion Control Network that machine fish is formed by the combination of multiple CPG units, establish each CPG unit
The CPG differential equation；
Step 2) carries out discretization using the CPG differential equation of the Euler method to each CPG unit, and the CPG differential equation is discrete
It is as follows to change equation:
Wherein, xi(k) membrane potential of i-th of oscillator, y after indicating discretei(k) tune of i-th of oscillator after indicating discrete
Nodal potential, xi(k)、yi(k) it is intermediate state variable in departure process；K indicates discrete-time variable；I=1,2 ..., n, n
Indicate oscillator number, each oscillator corresponds respectively to the driving steering engine in each joint in fish body tail portion, and Δ t indicates the increasing of time
Amount；Q indicates the maximum angular rate of machine fish driving steering engine；T indicates the control period of machine fish driving steering engine；ωiIt is i-th of vibration
Swing the natural mode shape of device；miFor the inherent amplitude of i-th of oscillator；For the phase between each CPG element output signal
Lag；l1Indicate the coefficient of coup between i-th of oscillator and (i-1)-th oscillator, l2Indicate i-th of oscillator and i+1
The coefficient of coup between oscillator；h1It is the coupled weight for determining (i-1)-th oscillator convergence rate, h2It is to determine i+1 vibration
Swing the coupled weight of device convergence rate；ciIndicate the output amplification factor of i-th of oscillator；biIt is state variable xiOffset
Variable；zi(k) final output signal controlled i-th of fish body joint steering engine is indicated；
The given input parameter of the CPG differential equation after step 3), adjustment are discrete, to obtain to i-th of fish body joint
The final output signal z that steering engine is controlledi(k)。
Further, the natural frequency ω of i-th of oscillator is given to the CPG differential equation after progress discretizationi, i-th
The intrinsic amplitude m of a oscillatori, the proper phase of i-th of oscillator it is poorAnd the offset variable b of i-th of oscillatoriTake
Value gives the adjusting potential x of i-th of oscillatori(k), the adjusting potential y of i-th of oscillatori(k) initial value gives i-th
Coefficient of coup l between oscillator and (i-1)-th oscillator1, coupled systemes between i-th of oscillator and i+1 oscillator
Number l2, determine the coupled weight h of (i-1)-th oscillator convergence rate1, determine i+1 oscillator convergence rate coupled weight
h2, i-th oscillator output amplification factor ci, machine fish driving steering engine maximum angular rate Q and machine fish driving steering engine control
I-th of vibration after indicating discrete is calculated by the solution of discrete equation for the value of cycle T processed, discrete calculation of every progress
Swing the membrane potential x of devicei(k) and it is discrete after i-th of oscillator adjusting potential yi(k), then pass through output amplification coefficient ciTo from
The membrane potential x of i-th of oscillator after dissipatingi(k) it is adjusted, obtains controlling i-th of fish body joint steering engine final defeated
Signal z outi(k)。
3, the motion control method of a kind of three-dimensional motion machine fish according to claim 1, which is characterized in that pass through
Combining to form the Motion Control Network of machine fish for multiple CPG units, establishes the CPG differential equation of each CPG unit: will vibrate
The natural mode shape ω of device, the amplitude m of oscillator, oscillator phase differenceAnd the offset variable b of oscillator is as CPG
Differential equation input, direct output of the adjusting potential y of the membrane potential x and oscillator that obtain oscillator as the CPG differential equation,
The membrane potential x of oscillator is adjusted by exporting amplification coefficient c, forms final output signal z.
Further, the CPG differential equation of foundation specifically:
In formula,Represent xiFirst derivative；Represent yiFirst derivative,WithIt is intermediate state variable；xiTable
Show the membrane potential of i-th of oscillator, yiIndicate the adjusting potential of i-th of oscillator, xiWithyiIt is state variable；I=1,2 ...,
N, n indicate the number of oscillator, and each oscillator corresponds respectively to the driving steering engine in each joint in machine fish fish body tail portion；ωiIt is
The natural mode shape of i-th of oscillator；miDetermine the inherent amplitude of i-th of oscillator；It is the intrinsic of i-th of oscillator
Phase difference, aijIndicate the coefficient of coup between each neural oscillator；h1And h2It is the coupled weight for determining convergence rate；ciTable
Show output amplification factor；biIt is the offset variable of i-th of oscillator；ziIndicate that the output controlled i-th of steering engine that snorkels is believed
Number.
Further, according to CPG differential equation machine input/output relation, CPG network structure topological diagram is established.
It further, is chain type coupled relation between the driving steering engine of each CPG unit.
Further, the driving steering engine of each CPG unit uses nearest neighbor coupled relation strategy.
Further, the coefficient of coup l between i-th of oscillator and (i-1)-th oscillator1With i-th of oscillator and i-th
Coefficient of coup l between+1 oscillator2Take identical value.
Further, state variable xiOffset variable biValue is during three-dimensional motion machine fish directly swims and snorkels
Zero, nonzero value is taken as during the turning of three-dimensional motion machine fish.
A kind of three-dimensional motion machine fish control system, including STM32 core control panel, wireless communication module, sensor die
Block, power module, servo driving module and image capture module；
The STM32 core control panel drives the control of steering engine according to the generation machine fish fish body of discrete model real-time online
Signal, servo driving module are used to provide power for machine fish；The sensor module is carried out for machine fish peripheral obstacle
Detection hides obstacle for machine fish and carries out deep-controlled providing help；Described image acquisition module is then used to acquire in real time
Video is simultaneously uploaded to host computer；The core control panel and sensor, image collector that the power module is used for as machine fish
It sets and is powered with steering engine；Machine fish is communicated between module and host computer by wireless communication.
Compared with prior art, the invention has the following beneficial technical effects:
The present invention a kind of motion control method and control system of three-dimensional motion machine fish, pass through multiple CPG units first
Combination form the Motion Control Network of machine fish, establish the CPG differential equation of each CPG unit, then utilize Euler method pair
The discrete solution of CPG differential equation progress of foundation, convenience of calculation, calculated result are accurate；For rhythmic movement control it is necessary because
Element: phase difference, frequency and amplitude carry out parameter adjustment by the CPG differential equation, can be by phase difference, frequency and amplitude
It adjusts or adjusts simultaneously to reach the adjusting to final output signal z respectively；It is logical for the necessary factor of rhythmic movement control
Cross specific parameter and be corresponding to it and controlled to adjust, travelling gait is more stable flexibly, it is more convenient to adjust, the present invention for into
One step, which learns and understand true fish and the travelling mechanism of machine fish, has very big facilitation, while also different for machine fish
The raising of the switching of mode of motion, mobility and flexibility provides theoretical basis；Using STM32 core control panel as master control
Center processed, structure is simple, controls stable signal transmission.
Further, the coupled modes utilized are nearest neighbor coupling, it is possible to reduce the control parameter of the CPG model
Quantity, to reduce the difficulty of calculating.
Detailed description of the invention
Fig. 1 is the three-dimensional motion machine fishnet network topology schematic diagram the present invention is based on CPG.
The output signal analogous diagram of Fig. 2 each CPG unit when being straight trip forward.
Fig. 3 is the output signal analogous diagram of each CPG unit when falling trip backward.
The output signal analogous diagram of Fig. 4 each CPG unit when being turning travelling.
Fig. 5 is the control principle drawing of steering engine of snorkeling.
Fig. 6 is the output signal analogous diagram of each CPG unit when moving about of snorkeling.
Fig. 7 is control system hardware structural diagram of the present invention.
Specific embodiment
With reference to the accompanying drawing to the tool of motion control method under the three-dimensional motion machine fish and water based on central pattern generator (cpg)
Body implementation is described further.
A kind of motion control method of three-dimensional motion machine fish mainly includes following steps in specific implementation process:
1) the CPG differential equation is established, input and output are specified；
The Motion Control Network of machine fish is formed by the combination of multiple CPG units, the CPG for establishing each CPG unit is micro-
Point equation, by the natural mode shape ω of the oscillator of each CPG unit, the amplitude m of oscillator, oscillator phase differenceAnd
The offset variable b of oscillator is inputted as the CPG differential equation, and the adjusting potential y of the membrane potential x and oscillator that obtain oscillator make
For the direct output of the CPG differential equation, the membrane potential x of oscillator is adjusted by exporting amplification coefficient c, is formed final
Output signal z；
The CPG differential equation used by the present invention is controlled for three-dimensional motion machine fish movement is expressed as follows:
In formula,Represent xiFirst derivative；Represent yiFirst derivative,WithIt is intermediate state variable；xiTable
Show the membrane potential of i-th of oscillator, yiIndicate the adjusting potential of i-th of oscillator, xiIt is state variable with yi；I=1,2 ...,
N, n indicate the number of oscillator, and each oscillator corresponds respectively to the driving steering engine in each joint in machine fish fish body tail portion；ωiIt is
The natural mode shape of i-th of oscillator；miDetermine the inherent amplitude of i-th of oscillator；It is the intrinsic of i-th of oscillator
Phase difference, aijIndicate the coefficient of coup between each neural oscillator；h1And h2It is the coupled weight for determining convergence rate；ciTable
Show output amplification factor；biIt is the offset variable of i-th of oscillator；ziIndicate that the output controlled i-th of steering engine that snorkels is believed
Number；
2) CPG equation and CPG network topological diagram are combined, the differential equation carries out discrete calculation；
When carrying out discrete calculation, need to give the initial of the value of each coefficient, the value of system input parameter and x, y
Value, discrete calculation of every progress, so that it may one group of numerical value of x, y be calculated by the solution of discrete equation, then pass through
The adjustment of amplification coefficient c, forms final output signal z, and output signal z may act as the input signal of control system to fish body
The steering engine in each joint is controlled.
It is specific: in the actual process, it is necessary to consider amplitude, frequency, the phase of the angular speed and each CPG unit of steering engine used
Restriction relation between potential difference, when the intrinsic phase of the intrinsic frequency of CPG unit oscillator, the intrinsic amplitude of oscillator or oscillator
When potential difference is excessively high, necessarily limited by steering engine maximum angular rate used；So using Euler method to the vibration in the CPG differential equation
The membrane potential x for swinging neuron, the adjusting potential y for vibrating neuron carry out discretization；
CPG discretization equation established by the present invention based on three-dimensional motion bionic machine fish is as follows:
Specifically, it is directed to the oscillator of multiple CPD units,
Wherein, xi(k) membrane potential of i-th of oscillator, y after indicating discretei(k) tune of i-th of oscillator after indicating discrete
Nodal potential, xi(k)、yi(k) it is intermediate state variable in departure process；K indicates discrete-time variable；I=1,2 ..., n, n
Indicate oscillator number, each oscillator corresponds respectively to the driving steering engine in fish body tail portion difference joint, and Δ t indicates the increasing of time
Amount；Q indicates the maximum angular rate of machine fish driving steering engine；T indicates the control period of machine fish driving steering engine；ωiIt is i-th of vibration
Swing the natural mode shape of device；miFor the inherent amplitude of i-th of oscillator；For the phase between each CPG element output signal
Lag；l1Indicate the coefficient of coup between i-th of oscillator and (i-1)-th oscillator, l2Indicate i-th of oscillator and i+1
The coefficient of coup between oscillator；h1It is the coupled weight for determining (i-1)-th oscillator convergence rate, h2It is to determine i+1 vibration
Swing the coupled weight of device convergence rate；ciIndicate the output amplification factor of i-th of oscillator；biIt is state variable xiOffset
Variable；zi(k) final output signal controlled i-th of fish body joint steering engine is indicated.
In this application, the coefficient of coup l between i-th of oscillator and (i-1)-th oscillator1With i-th oscillator and
Coefficient of coup l between i+1 oscillator2Take identical value；
Characterize state variable xiThe variable b of offsetiValue is zero during three-dimensional motion machine fish directly swims and snorkels,
Nonzero value is taken as during the turning of three-dimensional motion machine fish.
By the CPG differential equation, articular couple form is specified, establishes CPG network topological diagram；
According to CPG differential equation machine input/output relation, CPG network structure topological diagram, the driving of each CPG unit are established
It is chain type coupled relation between steering engine, during establishing topological diagram, the coupled modes utilized are nearest neighbor coupling, i.e. fish
Body each section driving steering engine only considers two adjacent thereto in practical coupling process or a steering engine has coupled relation,
The purpose of this way is can to reduce the quantity of the control parameter of the CPG model, to reduce the difficulty of calculating, Fig. 1 is this
The network topology schematic diagram for the CPG model that secondary invention is based on, as shown in Figure 1, each CPG unit (G1、G2、G3) only with its
One or two adjacent units intercouple, to control the movement of fish body steering engine.
The natural frequency ω of i-th of oscillator is given to the CPG differential equation after progress discretizationi, i-th oscillator
Intrinsic amplitude mi, the proper phase of i-th of oscillator it is poorAnd the offset variable b of i-th of oscillatoriValue, give i-th
The adjusting potential x of a oscillatori(k), the adjusting potential y of i-th of oscillatori(k) initial value gives i-th of oscillator and the
Coefficient of coup l between i-1 oscillator1, coefficient of coup l between i-th of oscillator and i+1 oscillator2, determine
The coupled weight h of i-1 oscillator convergence rate1, determine i+1 oscillator convergence rate coupled weight h2, i-th vibration
Swing the output amplification factor c of devicei, the maximum angular rate Q of machine fish driving steering engine and the control cycle T of machine fish driving steering engine
The film electricity of i-th of oscillator after indicating discrete is calculated by the solution of discrete equation for value, discrete calculation of every progress
Gesture xi(k) and it is discrete after i-th of oscillator adjusting potential yi(k), then pass through output amplification coefficient ciTo discrete i-th latter
The membrane potential x of oscillatori(k) it is adjusted, obtains the final output signal z controlled i-th of fish body joint steering enginei
(k)；
The value for changing input parameter and the coefficient of coup, can be generated different output signal zi(k).What is ultimately generated is defeated
Signal z outiIt (k) is i group discretization data, every group in this i group data of first data are defeated as the control angle of steering engine
Enter to corresponding steering engine, then every set time (generally 20 μ s), exports every group of next data to corresponding steering engine, successively
Analogize, so that controlling machine fish realizes constant movement.
As shown in fig. 7, the control system that the application is used to carry out three-dimensional motion bionic machine fish motion control includes
STM32 core control panel, wireless communication module, sensor module, power module, servo driving module and image capture module；
The STM32 core control panel is according to discrete model (i.e. to the discrete calculation of the CPG differential equation) real-time online
The control signal of machine fish fish body driving steering engine is generated, servo driving module is used to provide power for machine fish；The sensor
Module is detected for machine fish peripheral obstacle, is hidden obstacle for machine fish and is carried out deep-controlled providing help；Institute
Image capture module is stated then to be used to acquire video in real time and be uploaded to host computer；The core that the power module is used for as machine fish
Control panel and sensor, image collecting device and steering engine are powered.
Machine fish is communicated between module and host computer by wireless communication, by changing the frequency in the CPG unit
Rate, amplitude, phase difference adjust travelling speed；
Power module includes voltage transformation module；Servo driving module includes snorkel steering engine 1 and tail portion driving motor 3
It is a；
Snorkel unit and each joint CPG unit of fish body of the application machine fish are realized pair by STM32 core control panel
The sub-aqua sport of three-dimensional motion machine fish controls；By the input signal of control set for adjusting, so that it is real to meet three-dimensional machine fish
Now advance, the forms of motion such as trip, turning, floating and dive that fall: when preceding trip, the steering engine that snorkels is remain stationary, from fish head to fish tail side
Upwards, each joint steering engine phase of fish body is successively advanced, and amplitude successively increases, to generate forward thrust；Swim it is similar, only
But each joint steering engine phase successively lags at this time, and amplitude is successively successively decreased, to generate backward thrust；When turning, still keep
The steering engine that snorkels is static, controls turning by adjusting the positive and negative of offset variable to realize；When machine fish carries out dive or floats, control
Molding block receives command adapted thereto, sends control signal to the steering engine that snorkels, and is stepper motor in the present invention, the steering engine that snorkels work,
Drive lead screw rotation, move forward or backward feed screw nut, and then fish body center of gravity moves forward or backward, machine fish complete dive and
It floats and moves.
Below with reference to several specific forms of motion of the three-dimensional motion machine fish in the present invention, one is done to the value of each parameter
A introduction:
1. straight trip forward
According to the analysis to fish body wave profile equation, it can be appreciated that: fish are when being carried forward straight line travelling, from fish
Head has the fluctuation that a phase is successively advanced, amplitude is sequentially increased, so that it is forward to can produce fish to the direction of fish tail
Thrust realizes straight trip forward.Based on the above principles, when machine fish carries out straight trip forward, the steering engine that snorkels is remain stationary；Pass through tune
Frequency, the value of three parameters of amplitude and phase difference of the CPG differential equation are saved, so that establishing the CPG mould on the CPG differential equation
The output signal of type meets on from fish head to fish tail direction, and phase of output signal is successively advanced, and amplitude successively increases, to generate
Forward thrust；
In one particular embodiment of the present invention, the value of each parameter is as shown in table 1, Fig. 2 each CPG when being straight trip forward
The output signal analogous diagram of unit:
Table 1 directly swims forward parameter value
2. falling to swim backward
Trip of falling backward is similar with principle is directly swum forward, and only the direction of motion on the contrary, carries out backward in machine fish
When swimming, the steering engine that snorkels is remain stationary；By adjusting frequency, the value of three parameters of amplitude and phase difference of CPG model, make
Must establish the CPG model on the CPG differential equation output signal meet on from fish head to fish tail direction, phase of output signal according to
Secondary lag, amplitude are sequentially reduced, thus to thrust after generating:
In one particular embodiment of the present invention, the value of each parameter is as shown in table 2, and Fig. 3 is each CPG when falling trip backward
The output signal analogous diagram of unit.
Table 2 falls to swim parameter value backward
3. turning motion (left-hand bend/right-hand bend)
For machine fish when carrying out turning motion, parameter and value when moving about forward are essentially identical, and unique different parameter is
Offset variable biValue.It when turning, still keeps the steering engine that snorkels static, realizes machine by adjusting the positive and negative of offset variable
The left and right turning of fish.
(for this sentences left-hand bend, turning right only need to be by b in one particular embodiment of the present inventioniBecome opposite number
), the value of each parameter is as shown in table 3, and Fig. 4 is the output signal analogous diagram of each CPG unit when turning left.
The turning running parameter value of table 3
4. snorkel movement
When machine fish carries out dive or floats, control module receives command adapted thereto, sends control signal to the rudder that snorkels
Machine (being stepper motor in the present invention), stepper motor is a kind of executing agency for converting electric pulse to angular displacement.It is more popular
Say: as soon as when step actuator receives a pulse signal, it drive stepper motor by the direction of setting rotate one it is fixed
Angle (i.e. stepping angle).Angular displacement can be controlled by control pulse number, to achieve the purpose that accurate positionin；Simultaneously
The velocity and acceleration that motor rotation can be controlled by control pulse frequency, to achieve the purpose that speed regulation.Fig. 5 is this hair
Snorkel the control system block diagram of steering engine in bright.As shown in figure 5, STM32 is controlled as main control chip by the port I/O
SPGT62C19B type stepper motor driver chip, to realize the control to stepper motor.Potentiometer, which is inputted, by ADC generates tune
Speed order feeds back to STM32, and STM32 adjusts the state of SPGT62C19B type stepper motor drive module, so that motor be made to change
Revolving speed and direction.The steering engine that snorkels work drives lead screw rotation, moves forward or backward feed screw nut, and then fish body center of gravity moves forward
Or move back, machine fish completes dive and movement of floating.When machine fish, which snorkel, to be moved, it is important to note that joining at this time
Several values is varied when more directly should swim and turn because snorkeling when moving, machine fish need lesser amplitude of fluctuation and
Slower frequency.
In one particular embodiment of the present invention (for movement of diving herein below, the movement value that floats is identical, it is only necessary to
Exchange the rotation direction of stepper motor), the value of each parameter is as shown in table 4, Fig. 6 each CPG unit when being machine fish dive
Output signal analogous diagram.
4 dive running parameter value of table
Fig. 7 is the control system hardware structural diagram that the present invention uses, as shown in fig. 7, in the present invention, three-dimensional motion machine
The kinetic control system of device fish includes: that STM32 core control panel, wireless communication module, sensor module, power module (include
Voltage transformation module), servo driving module (including steering engine 1 and the tail portion driving motor 3 of snorkeling), image capture module.?
When practical control, the sensor module, sensor module includes depth transducer and laser sensor, depth transducer and is swashed
Optical sensor is respectively used to obtain three-dimensional motion machine fish position and three-dimensional motion machine fish peripheral obstacle information；Described image
Acquisition module is then mainly used for implementing acquisition video and is uploaded to host computer；The core control that the power module is used for as machine fish
Making sheet and sensor, image collecting device and steering engine are powered；Machine fish is by wireless communication between module and host computer
It is communicated, to adjust travelling speed by changing frequency, amplitude, phase difference in the CPG model etc., (present invention is logical
Adjustment frequency is crossed to change speed)；Snorkel unit and each joint CPG unit of fish body of this machine fish pass through the control of STM32 core
The generation machine fish of making sheet real-time online snorkel steering engine and fish body driving steering engine control signal, pass through the defeated of control set for adjusting
Enter signal, to meet three-dimensional machine fish realization advance, the forms of motion such as trip, turning, floating and dive that fall.
Particular embodiments described above has carried out detailed theory to the purpose of the present invention, technical solution with desired effect
It is bright, it should be understood that the above is only a specific embodiment of the present invention, it is not intended to restrict the invention, it is all at this
Within the spirit and principle of invention, any modification, equivalent substitution, improvement and etc. done should include in protection of the invention
Within range.
Claims (10)
1. a kind of motion control method of three-dimensional motion machine fish, which comprises the following steps:
Step 1), the Motion Control Network that machine fish is formed by the combination of multiple CPG units, establish the CPG of each CPG unit
The differential equation；
Step 2) carries out discretization, CPG differential equation discretization side using the CPG differential equation of the Euler method to each CPG unit
Journey is as follows:
Wherein, xi(k) membrane potential of i-th of oscillator, y after indicating discretei(k) the adjusting electricity of i-th of oscillator after indicating discrete
Gesture, xi(k)、yi(k) it is intermediate state variable in departure process；K indicates discrete-time variable；I=1,2 ..., n, n are indicated
Oscillator number, each oscillator correspond respectively to the driving steering engine in each joint in fish body tail portion, and Δ t indicates the increment of time；Q table
Show the maximum angular rate of machine fish driving steering engine；T indicates the control period of machine fish driving steering engine；ωiIt is i-th of oscillator
Natural mode shape；miFor the inherent amplitude of i-th of oscillator；For the delayed phase between each CPG element output signal；l1
Indicate the coefficient of coup between i-th of oscillator and (i-1)-th oscillator, l2Indicate i-th of oscillator and i+1 oscillator
Between the coefficient of coup；h1It is the coupled weight for determining (i-1)-th oscillator convergence rate, h2It is to determine that i+1 oscillator is received
Hold back the coupled weight of speed；ciIndicate the output amplification factor of i-th of oscillator；biIt is state variable xiOffset variable；zi
(k) final output signal controlled i-th of fish body joint steering engine is indicated；
The given input parameter of the CPG differential equation after step 3), adjustment are discrete, to obtain to i-th of fish body joint steering engine
The final output signal z controlledi(k)。
2. a kind of motion control method of three-dimensional motion machine fish according to claim 1, which is characterized in that carry out from
The CPG differential equation after dispersion gives the natural frequency ω of i-th of oscillatori, i-th oscillator intrinsic amplitude mi, i-th
The proper phase of oscillator is poorAnd the offset variable b of i-th of oscillatoriValue, give the adjusting electricity of i-th oscillator
Gesture xi(k), the adjusting potential y of i-th of oscillatori(k) initial value gives between i-th of oscillator and (i-1)-th oscillator
Coefficient of coup l1, coefficient of coup l between i-th of oscillator and i+1 oscillator2, determine the convergence of (i-1)-th oscillator
The coupled weight h of speed1, determine i+1 oscillator convergence rate coupled weight h2, i-th oscillator output times magnification
Number ci, machine fish driving steering engine maximum angular rate Q and machine fish driving steering engine control cycle T value, it is every carry out once
The membrane potential x of i-th of oscillator after indicating discrete is calculated by the solution of discrete equation for discrete calculationi(k) and it is discrete after
The adjusting potential y of i-th of oscillatori(k), then pass through output amplification coefficient ciTo the membrane potential x of discrete rear i-th of oscillatori
(k) it is adjusted, obtains the final output signal z controlled i-th of fish body joint steering enginei(k)。
3. a kind of motion control method of three-dimensional motion machine fish according to claim 1, which is characterized in that by multiple
Combining to form the Motion Control Network of machine fish for CPG unit, establishes the CPG differential equation of each CPG unit: by oscillator
Natural mode shape ω, the amplitude m of oscillator, oscillator phase differenceAnd the offset variable b of oscillator is as CPG differential
Equation input, direct output of the adjusting potential y of the membrane potential x and oscillator that obtain oscillator as the CPG differential equation pass through
Output amplification coefficient c is adjusted the membrane potential x of oscillator, forms final output signal z.
4. a kind of motion control method of three-dimensional motion machine fish according to claim 3, which is characterized in that foundation
The CPG differential equation specifically:
In formula,Represent xiFirst derivative；Represent yiFirst derivative,WithIt is intermediate state variable；xiIndicate the
The membrane potential of i oscillator, yiIndicate the adjusting potential of i-th of oscillator, xiAnd yiIt is state variable；I=1,2 ..., n, n
Indicate the number of oscillator, each oscillator corresponds respectively to the driving steering engine in each joint in machine fish fish body tail portion；ωiIt is i-th
The natural mode shape of a oscillator；miDetermine the inherent amplitude of i-th of oscillator；It is the intrinsic phase of i-th of oscillator
Potential difference, aijIndicate the coefficient of coup between each neural oscillator；h1And h2It is the coupled weight for determining convergence rate；ciIt indicates
Export amplification factor；biIt is the offset variable of i-th of oscillator；ziIndicate that the output controlled i-th of steering engine that snorkels is believed
Number.
5. a kind of motion control method of three-dimensional motion machine fish according to claim 3, which is characterized in that according to CPG
Differential equation machine input/output relation establishes CPG network structure topological diagram.
6. a kind of motion control method of three-dimensional motion machine fish according to claim 5, which is characterized in that each CPG is mono-
It is chain type coupled relation between the driving steering engine of member.
7. a kind of motion control method of three-dimensional motion machine fish according to claim 5, which is characterized in that each CPG is mono-
The driving steering engine of member uses nearest neighbor coupled relation strategy.
8. a kind of motion control method of three-dimensional motion machine fish according to claim 1, which is characterized in that i-th of vibration
Swing the coefficient of coup l between device and (i-1)-th oscillator1The coefficient of coup between i-th of oscillator and i+1 oscillator
l2Take identical value.
9. a kind of motion control method of three-dimensional motion machine fish according to claim 1, which is characterized in that state variable
xiOffset variable biValue is zero during three-dimensional motion machine fish directly swims and snorkels, and is turned in three-dimensional motion machine fish
Nonzero value is taken as in journey.
10. a kind of a kind of three-dimensional motion machine fish control system for motion control method described in claim 1, feature
It is, including STM32 core control panel, wireless communication module, sensor module, power module, servo driving module and image
Acquisition module；
The STM32 core control panel is believed according to the control for generating machine fish fish body driving steering engine of discrete model real-time online
Number, servo driving module is used to provide power for machine fish；The sensor module is examined for machine fish peripheral obstacle
It surveys, hide obstacle for machine fish and carries out deep-controlled providing help；Described image acquisition module is then used to acquire view in real time
Frequency is simultaneously uploaded to host computer；The core control panel and sensor, image collecting device that the power module is used for as machine fish
It is powered with steering engine；Machine fish is communicated between module and host computer by wireless communication.
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