CN113790871A - Underwater piezoelectric actuation bionic tail fin performance measurement and control system and method - Google Patents
Underwater piezoelectric actuation bionic tail fin performance measurement and control system and method Download PDFInfo
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Abstract
An underwater piezoelectric actuation bionic tail fin performance measurement and control system and method comprises an upper computer, a signal acquisition and output module and a data measurement module: the data measuring module comprises a position adjusting mechanism, a laser displacement sensor, a water tank, a laser speed sensor, a camera, a bracket and a driving clamping mechanism; the piezoelectric actuating bionic tail fin is arranged in a water cylinder arranged on the support, the piezoelectric actuating bionic tail fin can be driven by the driving clamping mechanism to deflect in a horizontal plane, and the position adjusting mechanism is arranged on the support; the signal acquisition and output module is in communication connection with an upper computer. The measurement and control method comprises the following steps: including displacement, speed and propulsion parameter measurements and roving attitude simulation and capture. The invention improves the repeatability of the test and the accuracy of the result, and greatly facilitates the measurement and control experiment of the underwater bionic tail fin.
Description
Technical Field
The invention relates to a measuring system and a measuring method, in particular to a system and a method for measuring and controlling the performance of an underwater piezoelectric actuating bionic tail fin.
Background
With the increasing scarcity of land resources, the exploration and development of marine resources become important issues in all countries of the world. The miniature underwater motion device is applied to the development and utilization of aquatic resources such as the ocean and the exploration of the sea bottom appearance. After five hundred million years of evolution of aquatic animals such as fish, the shape structure and the motion mode of the aquatic animals are very suitable for underwater survival, the aquatic animals have the characteristics of high speed, high efficiency, low noise and the like, and researchers research and develop various types of piezoelectric-actuated bionic robot fish according to the propulsion mode of the fish. The bionic tail fin is a core driving component of the bionic tail fin, and the performance of the bionic tail fin has great influence on the overall performance of the bionic robot fish. Although the existing experimental device for testing the performance of the bionic skeg mainly aims at the requirement of a single experiment, if different experimental parameters are obtained, the experimental device needs to be built again, so that the time cost and other human factors are increased, the repeatability of the experiment is reduced, and the accuracy of the experimental result is certainly influenced. Therefore, it is very important to design a flexible and convenient multifunctional measurement and control system which can be applied to underwater piezoelectric actuation bionic tail fins.
Disclosure of Invention
The invention provides a system and a method for measuring and controlling the performance of an underwater piezoelectric actuating bionic tail fin, aiming at overcoming the defects of the prior art. The measurement and control system improves the repeatability of the test and the accuracy of the result. The measurement and control method realizes the measurement of parameters such as displacement and speed of the bionic tail fin and the simulation of the swimming attitude of the fish, greatly facilitates the measurement and control experiment of the underwater bionic tail fin, and ensures the reliability of the experiment result.
The utility model provides a bionical skeg performance measurement and control system of piezoelectricity actuation under water, contains host computer, signal acquisition and output module and data measurement module: the data measuring module comprises a position adjusting mechanism, a laser displacement sensor, a water tank, a laser speed sensor, a camera, a bracket and a driving clamping mechanism; the piezoelectric actuating bionic tail fin is arranged in a water cylinder arranged on the support, the piezoelectric actuating bionic tail fin can be driven by the driving clamping mechanism to deflect in a horizontal plane, and the position adjusting mechanism is arranged on the support;
the position adjusting mechanism comprises a displacement sensing position mechanism, a speed sensing position mechanism, a camera position mechanism and a bionic tail fin position mechanism; the displacement sensor is driven by a displacement sensing position mechanism to realize the movement in the horizontal direction and the vertical direction, the laser speed sensor is driven by a speed sensing position mechanism to realize the movement in the horizontal direction and the vertical direction, the camera is driven by a camera position mechanism to realize the movement in the horizontal direction, and the clamping mechanism is driven by a bionic tail fin position mechanism to realize the movement in the horizontal direction; the signal acquisition and output module is in communication connection with an upper computer, the laser displacement sensor and the laser speed sensor are respectively used for acquiring displacement and speed data of the piezoelectric actuation bionic tail fin and transmitting the acquired data to the signal acquisition and output module, and the camera captures and shoots the swimming form of the piezoelectric actuation bionic tail fin and transmits image data to the upper computer.
A method for measuring and controlling the performance of an underwater piezoelectric actuation tail fin comprises the following steps of measuring parameters of displacement, speed and propelling force:
1.1) calibrating the long beam: firstly, selecting and marking a fixed position close to the tail end on the long beam, then applying gravity on the position by a weight, synchronously recording the deformation displacement of the position of the long beam under different gravities, storing the values into corresponding files, and finally fitting and calculating a force-deformation displacement relational expression to establish a relation between the stress and the deformation displacement of the beam at the position;
1.2), system initialization: the upper computer, the signal acquisition and output module and the data measurement module are checked, and the piezoelectric actuation bionic tail fin is arranged at the tail end of the long beam, so that no abnormal condition is ensured;
1.3) controlling a displacement sensing position mechanism and a speed sensing position mechanism to be matched with each other through an upper computer, respectively adjusting a laser displacement sensor and a laser speed sensor which are opposite to each other and are positioned on the side surface of the water tank to a testing position, and enabling the laser displacement sensor which is right opposite to the water tank to measure the deformation displacement of the position marked in the step 1.1);
1.4), the host computer transmits control voltage signal to the embedded quick-witted case of multislot in the test process, then convert digital signal into analog voltage signal transmission to power amplifier through the signal output integrated circuit board, with drive signal fixed multiple of amplification, apply to the bionical tail fin of piezoelectricity actuation on, the bionical tail fin of drive piezoelectricity actuation produces dynamic deformation, and simultaneously, laser displacement sensor and laser digital sensor detect the vibration displacement and the speed of the bionical tail fin of piezoelectricity actuation, and after conditioning the signal through laser sensor controller and signal acquisition integrated circuit board, transmit the host computer to, and signal processing.
Simulating and capturing the swimming posture:
2.1), the upper computer controls the bionic tail fin position mechanism to move the piezoelectric actuating bionic tail fin to the position farthest away from the control platform, and controls the camera position mechanism to move the camera positioned above the water cylinder to the position right above the piezoelectric actuating bionic tail fin;
2.2) an upper computer is adopted to respectively drive the clamping mechanism and a bionic tail fin position mechanism which is positioned above the water tank and carries a motor to simulate the swing and the swimming line of an animal, so that the simulation of the swimming gesture in water is realized;
2.3) controlling a camera position mechanism to enable the camera to be always kept above the piezoelectric actuating bionic tail fin for shooting while the step 2.1) is carried out, and transmitting a shot picture to an upper computer in real time.
Compared with the prior art, the invention has the beneficial effects that:
the system and the method provided by the invention can be used for measuring parameters such as displacement, speed and propulsive force of the underwater bionic skein, can realize attitude simulation and capture of animals such as fish when the animals move underwater, and solve the problems that the existing experimental device for testing the performance of the bionic skein is mainly built for single experimental requirements, and needs to be built newly if different experimental parameters are obtained.
The technical scheme of the invention is further explained by combining the drawings and the embodiment:
drawings
FIG. 1 is a perspective view of the overall construction of the present invention;
FIG. 2 is a schematic diagram of the arrangement of signal acquisition and output modules;
FIG. 3 is a top view of a data measurement module;
FIG. 4 is a front view of a data measurement module;
FIG. 5 is a side view of a data measurement module;
FIG. 6 is an enlarged view of a portion of FIG. 3 at I
FIG. 7 is a view taken along line A-A of FIG. 6;
FIG. 8 is an enlarged view of a portion of FIG. 4 at II;
fig. 9 is a schematic view of a machine beam connecting member.
Detailed Description
As shown in fig. 1-2, the underwater piezoelectric actuation bionic skeg performance measurement and control system of the embodiment includes an upper computer 1, a signal acquisition and output module 2 and a data measurement module 3:
the data measuring module 3 comprises a position adjusting mechanism 31, a laser displacement sensor 32, a water cylinder 34, a laser speed sensor 35, a camera 36, a bracket 37 and a driving clamping mechanism 38; the piezoelectrically actuated bionic tail fin 4 is arranged in a water cylinder 34 arranged on a support 37, the piezoelectrically actuated bionic tail fin 4 can be driven by a driving clamping mechanism 38 to deflect in a horizontal plane, and the position adjusting mechanism 31 is arranged on the support 37;
the position adjusting mechanism 31 comprises a displacement sensing position mechanism 311, a speed sensing position mechanism 312, a camera position mechanism 313 and a bionic tail fin position mechanism 314; the displacement sensor 32 is driven by a displacement sensing position mechanism 311 to realize the movement in the horizontal direction and the vertical direction, the laser speed sensor 35 is driven by a speed sensing position mechanism 312 to realize the movement in the horizontal direction and the vertical direction, the camera 36 is driven by a camera position mechanism 313 to realize the movement in the horizontal direction, and the clamping mechanism 38 is driven by a bionic tail fin position mechanism 314 to realize the movement in the horizontal direction;
the signal acquisition and output module 2 is in communication connection with the upper computer 11, the laser displacement sensor 32 and the laser speed sensor 35 are respectively used for acquiring displacement and speed data of the piezoelectric actuation bionic tail fin 4 and transmitting the acquired data to the signal acquisition and output module 2, and the camera 36 captures and shoots the swimming form of the piezoelectric actuation bionic tail fin 4 and transmits image data to the upper computer 1. The signal acquisition and output module 2 and the upper computer 11 are both arranged on the test bed 5.
The measurement and control system based on the scheme can realize measurement of parameters such as displacement, speed and propelling force of the piezoelectric actuation bionic tail fin 4 and bionic simulation of a swimming posture, and transmits measurement data and images to the signal acquisition and output module 2 and the upper computer 1 respectively. The piezoelectric actuation bionic tail fin 4 is a general name of piezoelectric materials attached to two sides of a tail cantilever beam part, and the water cylinder 34 is usually a transparent water cylinder. The displacement sensing position mechanism 311, the speed sensing position mechanism 312, the camera position mechanism 313 and the bionic tail fin position mechanism 314 are matched and used for adjusting the positions of the laser displacement sensor 32, the laser speed sensor 35 and the camera 36 so as to measure the displacement and the speed of the piezoelectric actuation bionic tail fin 4 at different positions and improve the reliability and the repeatability of the experiment.
Further, as shown in fig. 2 and fig. 3, the signal acquisition and output module 2 includes a multi-slot embedded chassis 26, a signal acquisition board card 24, a signal output board card 25, a laser sensor controller 23, a dc regulated power supply 21, and a power amplifier 22;
the signal acquisition board card 24 and the signal output board card 25 are both installed in the multi-groove embedded case 26, the signal acquisition board card 24 is connected with the upper computer 1, the signal output board card 25 is connected with the power amplifier 22, the power amplifier 22 is connected with the piezoelectric actuation bionic tail fin 4 and can drive the piezoelectric actuation bionic tail fin 4 to generate dynamic deformation, the laser displacement sensor 32 and the laser speed sensor 35 are respectively in communication connection with the laser sensor controller 23, the laser sensor controller 23 is in communication connection with the upper computer 1, and the direct-current stabilized power supply 21 supplies power to the laser displacement sensor controller 23, the laser displacement sensor 32 and the laser speed sensor 35. In the embodiment, the signal output board card 25 is used for converting a control signal sent by the upper computer 1 into an analog voltage signal and transmitting the analog voltage signal to the power amplifier 22, the signal acquisition board card 24 is used for converting signals acquired by each sensor into digital signals and transmitting the digital signals to the upper computer 1, and the laser displacement sensor controller 23, the signal acquisition board card 24 and the signal output board card 25 are all installed in the multi-slot embedded case 26 and are connected with the upper computer 1 through a USB bus; the power amplifier 22 is used for amplifying signals transmitted by the signal output board card 25 by a fixed multiple and applying the amplified signals to the piezoelectric actuation bionic tail fin 4 to drive the underwater bionic tail fin 4 to generate dynamic deformation, and the laser sensor controller 23 is used for setting parameters of the laser displacement sensor 32 and the laser speed sensor 35.
In order to realize the performance measurement of the piezoelectric actuation bionic tail fin 4, a plurality of position adjusting mechanisms 31 are arranged on the bracket 37 to realize different functions, and are divided into a displacement sensing position mechanism 311, a speed sensing position mechanism 312, a camera position mechanism 313 and a bionic tail fin position mechanism 314; the main technical means adopted by each position mechanism are the same, and the working principle is the same. For the sake of convenience of explanation of the song position mechanism, a three-coordinate system XYZ is defined.
As shown in fig. 3, 6, and 7, the camera position mechanism 313 includes a servo motor 3110, a slide bar, a slider 3113, a moving platform 3114, and a lead screw pair; the slide bars are divided into a first slide bar 3115 and a second slide bar 3116, the screw pair is disposed on the bracket 37, the screw pair is divided into a first screw pair and a second screw pair, the second screw 3118 is rotatably disposed on the bracket 37, the first screw 3117 and the second screw 3118 are respectively connected with the output end of the corresponding servo motor 3110, the first slide bar 3115 and the first screw 3117 which are horizontally disposed in parallel are disposed between the second screw 3118 and the second slide bar 3116 which are horizontally disposed in parallel, both ends of the first slide bar 3115 and the first screw 3117 are respectively connected with the slide block 3113 and the second nut of the second screw pair, the first screw 3117 is rotatably disposed on the slide block 3113 and the second nut, the first screw 3117 is perpendicular to the second screw 3118, the slide block 3113 is slidably disposed on the second slide bar 3116, the movable platform 3114 is connected with the first nut of the first screw pair, and is slidably disposed on the first slide bar 3115, and the camera 36 is disposed on the moving platform 3114. Typically the camera 36 is a high speed camera.
In this embodiment, under the action of the first screw pair and the second screw pair, the moving platform 3114 carrying the camera 36 can move in the Y-axis direction and the X-axis direction, so that the moving platform 3114 is always above the water tank 34, and the swimming simulation of the piezoelectric-actuating bionic tail fin 4 in water is tested, thereby completing the shooting of the piezoelectric-actuating bionic tail fin 4.
As shown in fig. 1 and fig. 3 to 7, two sets of displacement sensing position mechanisms 311 are arranged on the bracket 37, and each set of displacement sensing position mechanism 311 includes a servo motor 3110, a slide bar, a slide block 3113, a moving platform 3114 and a screw pair; the slide bar is divided into a first slide bar 3115 and a second slide bar 3116, the screw pair is arranged on the bracket 37, the screw pair is divided into a first screw pair and a second screw pair, the second screw 3118 is rotatably arranged on the bracket 37, and the first screw 3117 and the second screw 3118 are respectively connected with the output ends of the corresponding servo motors 3110; the first slide bar 3115 and the first lead screw 3117 which are vertically and parallelly arranged are located between the second lead screw 3118 and the second slide bar 3116 which are horizontally and parallelly arranged from top to bottom, two ends of the first slide bar 3115 and the first lead screw 3117 are respectively connected with the slide block 3113 and the second nut of the second lead screw pair, two ends of the first lead screw 3117 are rotatably arranged on the slide block 3113 and the second nut, the slide block 3113 is slidably arranged on the second slide bar 3116, the moving platform 3114 is connected with the first nut of the first lead screw pair and is slidably arranged on the first slide bar 3115, the laser displacement sensor 32 is arranged on the moving platform 3114, and the two second lead screws 3118 of the two sets of displacement sensing position mechanisms 311 are vertically arranged.
In this embodiment, two sets of displacement sensing position mechanisms 311 and two laser displacement sensors 32 are designed, so as to better measure the deformation displacement when the piezoelectric actuation bionic tail fin 4 is dynamically deformed, and realize the measurement of the propulsive force such as the fish tail. Under the action of the first screw pair and the second screw pair, the moving platform 3114 carrying the laser displacement sensors 32 can realize the movement of one laser displacement sensor 32 in the Z-axis direction and the X-axis direction, and the other laser displacement sensor 32 in the Z-axis direction and the Y-axis direction, so that the laser displacement sensors 32 on the moving platform 3114 are opposite to the water cylinder 34 to realize the deformation displacement of the position where the mark can be measured.
As shown in fig. 1 and fig. 3-7, the speed and position sensing mechanism 312 includes a servo motor 3110, a slide bar, a slider 3113, a moving platform 3114 and a screw pair; the slide bars are divided into a first slide bar 3115 and a second slide bar 3116, the screw pair is arranged on the bracket 37, the screw pair is divided into a first screw pair and a second screw pair, the second screw 3118 is rotatably arranged on the bracket 37, and the first screw 3117 and the second screw 3118 are respectively connected with the output ends of the corresponding servo motors 3110; vertical parallel arrangement's first slide bar 3115 and first lead screw 3117 are located between horizontal parallel arrangement's second lead screw 3118 and second slide bar 3116, first slide bar 3115 and first lead screw 3117 both ends link to each other with slider 3113 and the vice second nut of second lead screw respectively, first lead screw 3117 rotationally sets up on slider 3113 and second nut, slider 3113 slidable sets up on second slide bar 3116, moving platform 3114 links to each other with the vice first nut of first lead screw, and slidable ground sets up on first slide bar 3115, laser speed sensor 35 sets up on moving platform 3114.
In this embodiment, under the action of the first screw pair and the second screw pair, the moving platform 3114 with the laser speed sensor 35 mounted thereon can move in the Z-axis direction and the X-axis direction, so that the laser speed sensor 35 on the moving platform 3114 can measure the speed of the piezoelectric-actuated bionic tail fin 4.
Based on the above embodiment, in order to further realize the swimming posture simulation of animals such as fish, as shown in fig. 1 and fig. 3 to fig. 7, a bionic tail fin position mechanism 314 is designed, wherein the bionic tail fin position mechanism 314 comprises a servo motor 3110, a slide rod, a slide block 3113, a moving platform 3114 and a screw pair; the slide bars are divided into a first slide bar 3115 and a second slide bar 3116, the screw pair is arranged on the bracket 37, the screw pair is divided into a first screw pair and a second screw pair, the second screw 3118 is rotatably arranged on the bracket 37, and the first screw 3117 and the second screw 3118 are respectively connected with the output ends of the corresponding servo motors 3110; the first slide bar 3115 and the first lead screw 3117 which are horizontally arranged in parallel are located between the second lead screw 3118 and the second slide bar 3116 which are horizontally arranged in parallel, two ends of the first slide bar 3115 and the first lead screw 3117 are respectively connected with the slide block 3113 and the second nut of the second lead screw pair, the first lead screw 3117 is rotatably arranged on the slide block 3113 and the second nut, the first lead screw 3115 is perpendicular to the second lead screw 3118, the slide block 3113 is slidably arranged on the second slide bar 3116, the moving platform 3114 is connected with the first nut of the first lead screw pair and is slidably arranged on the first slide bar 3115, and the driving clamping mechanism 38 is arranged on the moving platform 3114.
In this embodiment, under the action of the first screw pair and the second screw pair, the moving platform 3114 carrying the driving clamping mechanism 38 can move in the Y-axis direction and the X-axis direction, so that the driving clamping mechanism 38 on the moving platform 31145 can move the piezoelectric-actuated bionic tail fin 4, and the latter can cooperate with the deflection motion of the piezoelectric-actuated bionic tail fin 4 under the action of the driving clamping mechanism 38 to simulate the motion posture of an animal such as a fish.
Further, as shown in fig. 8, the driving clamping mechanism 38 comprises a motor 380, a short beam 381, a long beam 382, a bionic tail fin fixing member 384 and a beam connector 385; the motor 380 is installed on the mobile platform 3114, the output shaft of the motor 380 is connected with one end of a horizontally arranged short beam 381, the other end of the short beam 381 is connected with one end of a vertically arranged long beam 382 through a beam connector 385, and the piezoelectric actuation bionic tail fin 4 is fixed at the other end of the long beam 382 through a bionic tail fin fixing piece 384.
In this embodiment, the motor 380 is fixed on the moving platform 3114 and controlled by the upper computer 1, and is used to drive the piezoelectric actuated bionic tail fin 4 to rotate around the Z axis, and is matched with the camera position mechanism 313 and the bionic tail fin position mechanism 314, so as to simulate the underwater swimming posture of animals such as fish.
In this embodiment, in order to facilitate reliable output of the motor 380, a machine beam connecting member 386 is disposed on the moving platform 3114, as shown in fig. 9, including a coupling 3861, a first connecting member 3862 and a second connecting member 3863; the output end of the motor 380 is connected with the first connecting piece 3862 through the coupler 3861, the first connecting piece 3862 is connected with the short beam 381 through the second connecting piece 3863, and by the arrangement, stable transmission of output of the motor 380 is achieved, a bionic tail fin test experiment with different sizes or different parameters is achieved, and the clamping mode can be adjusted according to experiment requirements.
Another embodiment further provides a method for measuring and controlling the performance of an underwater piezoelectric actuated tail fin, which comprises the following steps: displacement, speed and propulsion parameters measurement: the specific process is as follows: and with reference to fig. 1-8:
1.1) calibration of the long beam 382: firstly, selecting and marking a fixed position close to the tail end on the long beam 382, then applying gravity on the position by a weight, synchronously recording the deformation displacement of the position of the long beam 382 under different gravities, storing the values into corresponding files, and finally calculating a force-deformation displacement relational expression by fitting a least square method to establish a relation between the stress and the deformation displacement of the position beam;
1.2) system initialization: the upper computer 1, the signal acquisition and output module 2 and the data measurement module 3 are checked, and the piezoelectric actuation bionic tail fin 4 is arranged at the tail end of the long beam 382, so that no abnormal condition is ensured;
1.3) controlling the displacement sensing position mechanism 311 and the speed sensing position mechanism 312 to be matched with each other through the upper computer 1, respectively adjusting the laser displacement sensor 32 and the laser speed sensor 35 which are opposite to each other and are positioned on the side surface of the water tank 34 to testing positions, and enabling the laser displacement sensor 32 which is right opposite to the water tank 34 to measure the deformation displacement of the position marked in the step 1.1);
1.4) in the test process, the host computer 1 transmits a control voltage signal to the multi-slot embedded case 26 through a USB bus, then converts a digital signal into an analog voltage signal through the signal output board card 25 and transmits the analog voltage signal to the power amplifier 22, amplifies a drive signal by a fixed multiple and applies the amplified voltage signal to the piezoelectric actuation bionic tail fin 4, the piezoelectric actuation bionic tail fin 4 is driven to generate dynamic deformation, meanwhile, the laser displacement sensor 32 and the laser digital sensor 35 detect the vibration displacement and the speed of the piezoelectric actuation bionic tail fin 4, and the signal is transmitted to the host computer 1 through the USB bus after being conditioned by the laser sensor controller 23 and the signal acquisition board card 24 and then is processed by the signal processing.
The bionic tail fin 4 is actuated by piezoelectricity to realize the simulation and capture of the swimming attitude of the fish:
2.1) the upper computer 1 controls the bionic tail fin position mechanism 314 to move the piezoelectric actuation bionic tail fin 4 to the position farthest away from the console, and controls the camera position mechanism 313 to move the camera 36 positioned on the water cylinder 34 to the position right above the piezoelectric actuation bionic tail fin 4;
2.2) the upper computer 1 is adopted to respectively drive the clamping mechanism 38 and the bionic tail fin position mechanism 314 which is positioned above the water tank 34 and carries the motor 380 to simulate the swing and swimming lines of an animal, so that the simulation of the swimming posture in water is realized;
2.3) controlling the camera position mechanism 313 to enable the camera 36 to be always kept above the piezoelectric actuating bionic tail fin 4 for shooting while the step 2.1) is carried out, and transmitting a shot picture to the upper computer 1 in real time.
The measurement and control method can realize the measurement of parameters such as displacement, speed, propelling force and the like of the piezoelectric actuation bionic tail fin 4 and the simulation and capture of the posture of the fish when the fish moves underwater, greatly facilitates the measurement and control experiment of the underwater bionic tail fin, reduces the experiment time cost and ensures the reliability of the experiment result.
The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.
Claims (9)
1. The utility model provides an underwater piezoelectricity actuation bionical tail fin performance measurement and control system which characterized in that: the device comprises an upper computer (1), a signal acquisition and output module (2) and a data measurement module (3):
the data measurement module (3) comprises a position adjusting mechanism (31), a laser displacement sensor (32), a water cylinder (34), a laser speed sensor (35), a camera (36), a bracket (37) and a driving clamping mechanism (38); the piezoelectric actuating bionic tail fin (4) is arranged in a water cylinder (34) arranged on a support (37), the piezoelectric actuating bionic tail fin (4) can be driven by a driving clamping mechanism (38) to deflect in a horizontal plane, and a position adjusting mechanism (31) is arranged on the support (37);
the position adjusting mechanism (31) comprises a displacement sensing position mechanism (311), a speed sensing position mechanism (312), a camera position mechanism (313) and a bionic tail fin position mechanism (314); the displacement sensor (32) is driven by a displacement sensing position mechanism (311) to realize the movement in the horizontal direction and the vertical direction, the laser speed sensor (35) is driven by a speed sensing position mechanism (312) to realize the movement in the horizontal direction and the vertical direction, the camera (36) is driven by a camera position mechanism (313) to realize the movement in the horizontal direction, and the driving clamping mechanism (38) is driven by a bionic tail fin position mechanism (314) to realize the movement in the horizontal direction;
the signal acquisition and output module (2) is in communication connection with the upper computer (11), the laser displacement sensor (32) and the laser speed sensor (35) are respectively used for acquiring displacement and speed data of the piezoelectric actuation bionic tail fin (4) and transmitting the acquired data to the signal acquisition and output module (2), and the camera (36) captures and shoots the moving form of the piezoelectric actuation bionic tail fin (4) and transmits image data to the upper computer (1).
2. The underwater piezoelectric actuation bionic skeg performance measurement and control system according to claim 1, characterized in that: the signal acquisition and output module (2) comprises a multi-slot embedded case (26), a signal acquisition board card (24), a signal output board card (25), a laser sensor controller (23), a direct current stabilized voltage power supply (21) and a power amplifier (22);
the signal acquisition board card (24) and the signal output board card (25) are installed in a multi-groove embedded case (26), the signal acquisition board card (24) is connected with an upper computer (1), the signal output board card (25) is connected with a power amplifier (22), the power amplifier (22) is connected with a piezoelectric actuation bionic tail fin (4) and can drive the piezoelectric actuation bionic tail fin (4) to generate dynamic deformation, a laser displacement sensor (32) and a laser speed sensor (35) are respectively in communication connection with a laser sensor controller (23), the laser sensor controller (23) is in communication connection with the upper computer (1), and a direct-current stabilized power supply (21) supplies power to the laser displacement sensor controller (23), the laser displacement sensor (32) and the laser speed sensor (35).
3. The underwater piezoelectric actuation bionic skeg performance measurement and control system according to claim 1, characterized in that: the camera position mechanism (313) comprises a servo motor (3110), a sliding rod, a sliding block (3113), a moving platform (3114) and a lead screw pair;
the slide bars are divided into a first slide bar (3115) and a second slide bar (3116), the screw pair is arranged on a bracket (37), the screw pair is divided into a first screw pair and a second screw pair, the second screw (3118) is rotatably arranged on the bracket (37), the first screw (3117) and the second screw (3118) are respectively connected with the output end of a corresponding servo motor (3110), the first slide bar (3115) and the first screw (3117) which are horizontally arranged in parallel are positioned between the second screw (3118) and the second slide bar (3116) which are horizontally arranged in parallel, two ends of the first slide bar (3115) and the first screw (3117) are respectively connected with a slide block (3113) and a second nut of the second screw pair, the first screw (7) is rotatably arranged on the slide block (3113) and the second nut, the first screw (3117) is perpendicular to the second screw (3118), and the slide block (3113) is slidably arranged on the second slide bar (3116), the movable platform (3114) is connected with the first nut of the first lead screw pair and is slidably arranged on the first sliding rod (3115), and the camera (36) is arranged on the movable platform (3114).
4. The underwater piezoelectric actuation bionic skeg performance measurement and control system according to claim 1, characterized in that: two sets of displacement sensing position mechanisms (311) are arranged on the support (37), and each set of displacement sensing position mechanism (311) comprises a servo motor (3110), a sliding rod, a sliding block (3113), a moving platform (3114) and a screw pair; the slide bar is divided into a first slide bar (3115) and a second slide bar (3116), the screw pair is arranged on the bracket (37), the screw pair is divided into a first screw pair and a second screw pair, the second screw (3118) is rotatably arranged on the bracket (37), and the first screw (3117) and the second screw (3118) are respectively connected with the output end of the corresponding servo motor (3110); vertical parallel arrangement's first slide bar (3115) and first lead screw (3117) are located between horizontal parallel arrangement's second lead screw (3118) and second slide bar (3116) from top to bottom, first slide bar (3115) and first lead screw (3117) both ends link to each other with slider (3113) and the second nut of second lead screw pair respectively, the both ends of first lead screw (3117) rotationally set up on slider (3113) and second nut, slider (3113) slidable sets up on second slide bar (3116), moving platform (3114) link to each other with the first nut of first lead screw pair, and slidable sets up on first slide bar (3115), laser displacement sensor (32) set up on moving platform (3114), two second lead screws (3118) of two sets of displacement sensing position mechanism (311) are arranged perpendicularly.
5. The underwater piezoelectric actuation bionic skeg performance measurement and control system according to claim 1, characterized in that: the speed and position sensing mechanism (312) comprises a servo motor (3110), a sliding rod, a sliding block (3113), a moving platform (3114) and a lead screw pair;
the slide bar is divided into a first slide bar (3115) and a second slide bar (3116), the screw pair is arranged on the bracket (37), the screw pair is divided into a first screw pair and a second screw pair, the second screw (3118) is rotatably arranged on the bracket (37), and the first screw (3117) and the second screw (3118) are respectively connected with the output end of the corresponding servo motor (3110); vertical parallel arrangement's first slide bar (3115) and first lead screw (3117) are located between horizontal parallel arrangement's second lead screw (3118) and second slide bar (3116), first slide bar (3115) and first lead screw (3117) both ends link to each other with slider (3113) and second nut of second lead screw pair respectively, first lead screw (3117) rotationally set up on slider (3113) and second nut, slider (3113) slidable sets up on second slide bar (3116), moving platform (3114) links to each other with the first nut of first lead screw pair, and slidable sets up on first slide bar (3115), laser speed sensor (35) set up on moving platform (3114).
6. The underwater piezoelectric actuation bionic skeg performance measurement and control system according to claim 1, characterized in that: the bionic tail fin position mechanism (314) comprises a servo motor (3110), a sliding rod, a sliding block (3113), a moving platform (3114) and a screw pair;
the slide bar is divided into a first slide bar (3115) and a second slide bar (3116), the screw pair is arranged on the bracket (37), the screw pair is divided into a first screw pair and a second screw pair, the second screw (3118) is rotatably arranged on the bracket (37), and the first screw (3117) and the second screw (3118) are respectively connected with the output end of the corresponding servo motor (3110); the first sliding rod (3115) and the first lead screw (3117) which are horizontally arranged in parallel are located between the second lead screw (3118) and the second sliding rod (3116) which are horizontally arranged in parallel, two ends of the first sliding rod (3115) and the first lead screw (3117) are respectively connected with the sliding block (3113) and the second nut of the second lead screw pair, the first lead screw (3117) is rotatably arranged on the sliding block (3113) and the second nut, the first lead screw (3115) is perpendicular to the second lead screw (3118), the sliding block (3113) is slidably arranged on the second sliding rod (3116), the moving platform (3114) is connected with the first nut of the first lead screw pair and slidably arranged on the first sliding rod (3115), and the driving clamping mechanism (38) is arranged on the moving platform (3114).
7. The underwater piezoelectric actuation bionic skeg performance measurement and control system according to claim 6, characterized in that: the driving clamping mechanism (38) comprises a motor (380), a short beam (381), a long beam (382), a bionic tail fin fixing piece (384) and a beam connecting piece (385); the motor (380) is installed on the moving platform (3114), an output shaft of the motor (380) is connected with one end of a horizontally arranged short beam (381), the other end of the short beam (381) is connected with one end of a vertically arranged long beam (382) through a beam connecting piece (385), and the piezoelectric actuation bionic tail fin (4) is fixed at the other end of the long beam (382) through a bionic tail fin fixing piece (384).
8. A method for measuring and controlling the performance of an underwater piezoelectric actuation bionic tail fin is characterized by comprising the following steps: including displacement, velocity and thrust parameter measurements:
1.1) calibrating a long beam (382): firstly, selecting a fixed position close to the tail end on a long beam (382) and marking the fixed position, then applying gravity on the position by a weight, synchronously recording the deformation displacement of the position of the long beam (382) under different gravities, storing the values into a corresponding file, and finally fitting and calculating a force-deformation displacement relational expression to establish a relation between the force applied to the beam at the position and the deformation displacement;
1.2), system initialization: the upper computer (1), the signal acquisition and output module (2) and the data measurement module (3) are checked, and the piezoelectric actuation bionic tail fin (4) is installed at the tail end of the long beam (382), so that no abnormal condition is ensured to occur;
1.3) controlling a displacement sensing position mechanism (311) and a speed sensing position mechanism (312) to be matched with each other through an upper computer (1), respectively adjusting a laser displacement sensor (32) and a laser speed sensor (35) which are opposite to each other and are positioned on the side surface of a water tank (34) to a testing position, and enabling the laser displacement sensor (32) which is right opposite to the water tank (34) to measure the deformation displacement of the position marked in the step 1.1);
1.4), the host computer (1) transmits the control voltage signal to the embedded quick-witted case of multislot (26) in the test process, then convert digital signal into analog voltage signal through signal output integrated circuit board (25) and transmit to power amplifier (22), with drive signal amplification fixed multiple, apply to on the bionical tail fin of piezoelectricity actuation (4), drive bionical tail fin of piezoelectricity actuation (4) and produce dynamic deformation, and simultaneously, laser displacement sensor (32) and laser digital sensor (35) detect the vibration displacement and the speed of bionical tail fin of piezoelectricity actuation (4), and after conditioning the signal through laser sensor controller (23) and signal acquisition integrated circuit board (24), transmit host computer (1), and signal processing.
9. The underwater piezoelectric actuation bionic tail fin performance measurement and control method according to claim 8, characterized in that: the method also comprises the following steps of swimming attitude simulation and capture:
2.1), the upper computer 1 controls the bionic tail fin position mechanism (314) to move the piezoelectric actuating bionic tail fin (4) to the position farthest away from the console, and controls the camera position mechanism (313) to move the camera (36) positioned on the water cylinder (34) to the position right above the piezoelectric actuating bionic tail fin (4);
2.2) the upper computer 1 is adopted to respectively drive the clamping mechanism (38) and the bionic tail fin position mechanism (314) which is positioned above the water cylinder (34) and carries the motor (380) to simulate the swing and swimming lines of an animal, so that the simulation of the swimming posture in water is realized;
2.3) controlling a camera position mechanism (313) to enable a camera (36) to be always kept above the piezoelectric actuation bionic tail fin (4) for shooting while the step 2.1) is carried out, and transmitting a shot picture to an upper computer (1) in real time.
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