CN113928528A - Flapping wing type bionic steering control device - Google Patents

Flapping wing type bionic steering control device Download PDF

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Publication number
CN113928528A
CN113928528A CN202111245784.0A CN202111245784A CN113928528A CN 113928528 A CN113928528 A CN 113928528A CN 202111245784 A CN202111245784 A CN 202111245784A CN 113928528 A CN113928528 A CN 113928528A
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flapping wing
module
main control
angle
underwater robot
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CN113928528B (en
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孙鹏
陈华奎
付为国
曹凯
徐林森
叶晓东
孔令成
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Hefei Institutes of Physical Science of CAS
Institute of Advanced Manufacturing Technology
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Hefei Institutes of Physical Science of CAS
Institute of Advanced Manufacturing Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/52—Parts for steering not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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Abstract

The invention discloses a flapping wing type bionic steering control device which comprises a main control module, a left flapping wing driving module, a right flapping wing driving module, a communication module and a power supply module, wherein the main control module is connected with the communication module; the output end of the main control module is respectively connected with the input end of the left flapping wing driving module, the input end of the right flapping wing driving module, the input end of the communication module, the input end of the main control module is respectively connected with the output end of the left flapping wing driving module, the output end of the right flapping wing driving module, the output end of the communication module, the output end of the power supply module is also respectively connected with the input end of the left flapping wing driving module, the input end of the right flapping wing driving module, the output end of the communication module, and the input end of the communication module is connected with the upper computer. The invention can improve the efficiency and flexibility of the underwater robot during low-speed cruising and steering, thereby providing a new idea for enriching the steering technology of the underwater robot and breaking through the bottleneck of the flexible steering technology of the underwater robot.

Description

Flapping wing type bionic steering control device
Technical Field
The invention relates to the field of underwater bionic robots, in particular to a flapping wing type bionic steering control device.
Background
The high mobility of the underwater robot is an important index for meeting the requirements of marine environment research, submarine resource exploration and marine defense strategies. The steering mechanism is a key mechanism for realizing high maneuverability of the underwater robot. At present, the underwater robot mainly adopts a propeller thruster combined with a deflection or vector propulsion mode of a control surface to generate maneuvering control force. When the propeller runs at low speed, the propeller is in a working state of non-full rotation, the efficiency of the propeller is obviously reduced, fluid pulses which are difficult to predict can be generated, and the control precision is low. The vector propulsion method is high in cost, complex in technology and high in requirements on a body structure and a control system. In addition, the steering control is difficult due to the fact that underwater terrain and environment are complex, various uncertain factors such as undercurrent, wave and surge exist, disturbance factors such as nonlinear coupling and noise interference exist.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides the flapping wing type bionic steering control device which is simple in design, convenient to control and low in cost, and aims to improve the cruising and steering efficiency and flexibility of the underwater robot at low speed, thereby laying a foundation for enriching the steering technology of the underwater robot and improving the maneuverability of the underwater robot during low-speed sailing.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to a flapping wing type bionic steering control device, which is characterized by being used for controlling an underwater robot and comprising: the main control module, the communication module, the left flapping wing driving module, the right flapping wing driving module and the power supply module;
wherein the left flapping wing driver module comprises: the system comprises a left flapping wing motor driver, a left flapping wing motor, a left flapping wing encoder signal converter and a left flapping wing encoder; the right flapping wing drive module comprises: the system comprises a right flapping wing motor driver, a right flapping wing motor, a right flapping wing encoder signal converter and a right flapping wing encoder; the communication module includes: an RS485RTU communication module;
the output end of the main control module is respectively connected with the left flapping wing motor driver of the left flapping wing driving module, the right flapping wing motor driver of the right flapping wing driving module and the input end of the communication module;
the input end of the main control module is respectively connected with a left flapping wing encoder signal converter of the left flapping wing driving module, a right flapping wing encoder signal converter of the right flapping wing driving module, the output end of the communication module and the output end of the power supply module;
the output end of the power supply module is also respectively connected with the input end of the left flapping wing driving module, the input end of the right flapping wing driving module and the output end of the communication module; the input end of the communication module is also connected with an upper computer;
the main control module receives the yaw control command and the yaw parameter sent by the upper computer in real time through the RS485RTU communication module
Figure BDA0003320900020000011
And deceleration control command and speed parameter (v)t,vi) And are respectively used for real-time control in a turning mode and a deceleration mode; wherein,
Figure BDA0003320900020000021
indicating yaw angle sum set by underwater robot
Figure BDA0003320900020000022
Representing a current yaw angle fed back by the underwater robot in real time, and the yaw angle
Figure BDA0003320900020000023
The deviation angle of the advancing direction of the underwater robot and the vertical projection of the ground under a world coordinate system is determined;
Figure BDA0003320900020000024
a negative value represents a turn to the left,
Figure BDA0003320900020000025
turn right for positive representation; v. oftRepresenting the set velocity and v of the underwater robotiRepresenting the real-time speed of the underwater robot.
The flapping wing type bionic steering control device is also characterized in that when the deceleration control command is received, the real-time control of the deceleration mode is executed as follows:
if the set speed vtNot less than real-time speed viWhen the speed is not reduced, the left flapping wing motor and the right flapping wing motor are in the original positions and do not move;
if the set speed vt< real-time speed viAnd if the speed is required to be reduced, the main control module calculates the unfolding angle theta of the flapping wings at the two sides of the underwater robotvSimultaneously controlling the left flapping wing driving module and the right flapping wing driving module to respectively unfold the flapping wings at the two sides to an angle theta at a constant speedvThe position of (a); meanwhile, the left flapping wing built-in encoder and the right flapping wing built-in encoder respectively collect position signals of the left flapping wing driving motor and the right flapping wing driving motor and correspondingly feed back the position signals to the main control module after the position signals are converted, amplified and processed by the left flapping wing encoder signal converter and the right flapping wing encoder signal converter, so that the main control module performs closed-loop motion control on the left flapping wing driving motor and the right flapping wing driving motor according to the fed-back position signals to achieve the angle thetavThe position of (a); therefore, under the action of uniform stress on the flapping wings at two sides, the underwater robot deceleratesTo a set speed vtAnd feeding back the deceleration completion signal to the upper computer.
When the yaw control command is received, executing real-time control of a turning mode as follows:
if the set yaw angle is set
Figure BDA0003320900020000026
If so, determining that no steering action is needed;
if the set yaw angle is set
Figure BDA0003320900020000027
If so, judging that the vehicle turns to the right; the main control module calculates the unfolding angle of the right flapping wing of the underwater robot
Figure BDA0003320900020000028
Meanwhile, the right flapping wing driving module is used for controlling the right flapping wing driver to drive the right flapping wing motor to enable the flapping wing to be unfolded to an angle
Figure BDA0003320900020000029
And the left flapping wing does not move and is in the initial position; meanwhile, the right flapping wing encoder collects and calibrates position signals of the right flapping wing driving motor, and the position signals are converted and amplified by the right flapping wing encoder signal converter and then output to the main control module, so that the main control module performs closed-loop motion control on the right flapping wing driving motor according to the feedback position signals to achieve angle control
Figure BDA00033209000200000210
The position of (a); so that under the condition that the force applied to the right-side flapping wing is greater than that of the left-side flapping wing, the course of the underwater robot deflects to the right
Figure BDA00033209000200000211
Feeding back a turning completion signal to the upper computer;
if the set yaw angle is set
Figure BDA0003320900020000031
If so, judging that the vehicle turns to the left; the main control module calculates the unfolding angle of the left flapping wing of the underwater robot
Figure BDA0003320900020000032
Meanwhile, the left flapping wing driving module is used for controlling the right flapping wing driver to drive the left flapping wing motor to enable the flapping wing to be unfolded to an angle
Figure BDA0003320900020000033
The right flapping wing does not move and is in the initial position; meanwhile, the left flapping wing encoder collects and calibrates position signals of the left flapping wing driving motor, the position signals are converted and amplified by the left flapping wing encoder signal converter and then are output to the main control module, and the main control module controls the closed-loop motion of the left flapping wing driving motor according to the feedback position signals to achieve angle control
Figure BDA0003320900020000034
The position of (a); therefore, under the condition that the force applied to the left flapping wing is greater than that of the right flapping wing, the course of the underwater robot deflects to the left
Figure BDA0003320900020000035
And feeding back a turning completion signal to the upper computer.
The main control module calculates the unfolding angle theta of the flapping wings at two sides by using the formula (1)v：
Figure BDA0003320900020000036
In formula (1): Δ v is a control parameter (v) according to speedt,vi) Calculating real-time velocity v under proportional-integral controlleriWith a set speed vtThe proportionality coefficient of (a); v. ofmax、vminThe maximum and minimum running speeds of the underwater robot are respectively; thetamaxThe maximum angle at which the flapping wings are deployed.
The main control module (1) is utilizedThe unfolding angle of the flapping wings at two sides is calculated by the formula (2)
Figure BDA0003320900020000037
Figure BDA0003320900020000038
In the formula (2), Δ v is a parameter according to yaw control
Figure BDA0003320900020000039
Calculating the current yaw angle under a proportional-integral controller
Figure BDA00033209000200000310
With a set yaw angle
Figure BDA00033209000200000311
The proportionality coefficient of (a);
Figure BDA00033209000200000312
the maximum yaw angle and the minimum yaw angle of the underwater robot are respectively; thetamaxThe maximum angle at which the flapping wings are deployed.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention takes the flapping wing characteristic of the penguin as a research mechanism, adds a flapping wing type bionic steering control device for the underwater robot, and overcomes the defects of low energy efficiency, low precision, complex structure, large control difficulty and the like in the traditional steering engine propeller type and vector propulsion modes.
2. The invention adopts a left flapping wing driving module and a right flapping wing driving module to respectively drive a left flapping wing and a right flapping wing. The main control module independently controls the flapping wings on the two sides to move, the unfolding and the shrinking of the flapping wings on the two sides are utilized, the speed reduction movement of the underwater robot can be realized, the left turning movement and the right turning movement of the underwater robot can be realized through different unfolding angles of the two sides, and the carrying performance of the underwater robot is more flexible.
3. The PID controller is established in the main control module CPU, the speed control proportional coefficient in the speed reducing mode and the yaw control proportional coefficient in the turning mode can be obtained through the PID controller, and the algorithm is simple and practical. The main control module is simple in programming and easy to realize, and can be popularized to the application field of underwater robots.
Drawings
FIG. 1 is a block diagram of a flapping-wing type bionic steering control device according to the present invention;
FIG. 2 is a schematic block diagram of a flapping-wing type bionic steering control apparatus according to the present invention;
FIG. 3 is a schematic view of the flapping-wing type bionic steering overall mechanism of the present invention;
reference numbers in the figures: 1. a right flapping wing motor; 2. installing a frame; 3. a left flapping wing motor; 4. a left flapping wing; 5. a right flapping wing;
Detailed Description
The technical solution of the present patent will be further described in detail with reference to the following embodiments.
Referring to fig. 1 to 3, a flapping-wing type bionic steering control apparatus includes a main control module, a communication module, a left flapping-wing driving module, a right flapping-wing driving module, and a power module; wherein, left flapping wing driver module comprises: the device comprises a left flapping wing motor driver, a left flapping wing motor 3, a left flapping wing encoder signal converter and a left flapping wing encoder; the right flapping wing driving module comprises: the system comprises a right flapping wing motor driver, a right flapping wing motor 1, a right flapping wing encoder signal converter and a right flapping wing encoder; the communication module includes: an RS485RTU communication module;
as shown in fig. 2, the output end of the main control module is respectively connected to the left flapping wing motor driver of the left flapping wing driving module, the right flapping wing motor driver of the right flapping wing driving module, and the input end of the communication module;
the input end of the main control module is respectively connected with a left flapping wing encoder signal converter of the left flapping wing driving module, a right flapping wing encoder signal converter of the right flapping wing driving module, the output end of the communication module and the output end of the power supply module;
the power supply module comprises a power supply management module, a battery and an external power supply interface, wherein a power supply switching circuit and a power supply management IC system are arranged in the power supply management module, and the battery and the external power supply working state are managed. When the voltage of the external power supply interface is detected, the external power supply is preferentially selected to supply power to the system. When the battery voltage is detected to be too low and the external power supply interface has voltage, the power supply management module charges the battery through the external power supply interface. The power management module is internally provided with a control chip and can detect the voltage values of the external power supply interface and the battery.
The output end of the power supply module is also respectively connected with the input end of the left flapping wing driving module, the input end of the right flapping wing driving module and the output end of the communication module; the input end of the communication module is also connected with an upper computer;
the main control module receives a yaw control command and yaw parameters sent by an upper computer in real time through the RS485RTU communication module
Figure BDA0003320900020000041
And deceleration control command and speed parameter (v)t,vi) And are respectively used for real-time control in a turning mode and a deceleration mode; wherein,
Figure BDA0003320900020000042
indicating yaw angle sum set by underwater robot
Figure BDA0003320900020000043
Representing the current yaw angle fed back by the underwater robot in real time, and the yaw angle
Figure BDA0003320900020000051
The deviation angle of the advancing direction of the underwater robot and the vertical projection of the ground under a world coordinate system is determined;
Figure BDA0003320900020000052
a negative value represents a turn to the left,
Figure BDA0003320900020000053
turn right for positive representation; v. oftRepresenting the set velocity and v of the underwater robotiRepresenting a real-time speed of the underwater robot;
in the concrete implementation of the method, the device comprises a base,flapping wing spreading angle theta in deceleration modevThe calculation method comprises the following steps:
in the deceleration mode, the unfolding angle of the flapping wings has a proportional relation with the deceleration amplitude (difference value between the set value and the actual value), namely the larger the deceleration amplitude is, the larger the unfolding angle of the flapping wings is, and the smaller the deceleration amplitude is, the smaller the unfolding angle of the flapping wings is. Because the control model is complex and an accurate mathematical model cannot be established, the proportional relation of the deceleration amplitude is preferably solved by adopting a PID algorithm.
Establishing a deceleration mode PID controller 1 in a main controller, and solving according to a set speed value and a feedback value speed value, wherein the formula (1) is as follows:
Figure BDA0003320900020000054
in the formula (1), Δ v is a control parameter (v) according to the speedt,vi) Calculating real-time velocity v under proportional-integral controlleriWith a set speed vtThe proportionality coefficient of (a); k is a radical ofPIs a proportionality constant; k is a radical ofIIs integral and normal; k is a radical ofDIs a differential constant; e (k) is the difference between the set speed value and the feedback speed value.
Further solving the angle theta of unfolding of the bilateral flapping wingsv：
Figure BDA0003320900020000055
In formula (2): Δ v is a control parameter (v) according to speedt,vi) Calculating real-time velocity v under proportional-integral controlleriWith a set speed vtThe proportionality coefficient of (a); v. ofmax、vminThe maximum and minimum running speeds of the underwater robot are respectively; thetamaxThe maximum angle at which the flapping wings are deployed.
Flapping wing spreading angle in turning mode
Figure BDA0003320900020000056
The calculating method of (2):
and in the turning mode, the underwater robot is controlled to turn by using a single-side flapping wing unfolding mode. The unfolding angle of the single-side flapping wing has a proportional relation with the yaw amplitude (difference value between a set value and an actual value), namely the larger the yaw amplitude is, the larger the unfolding angle of the flapping wing is, and the smaller the yaw amplitude is, the smaller the unfolding angle of the flapping wing is. Since the control model is complex and an accurate mathematical model cannot be established, the proportional relation of the yaw amplitude is preferably solved by adopting a PID algorithm.
A turning mode PID controller 2 is established in the main controller, and the solution is carried out according to the set yaw angle and the feedback yaw angle value, wherein the formula is as follows:
Figure BDA0003320900020000061
in formula (3):
Figure BDA0003320900020000062
to control parameters according to yaw
Figure BDA0003320900020000063
Calculating the current yaw angle under a proportional-integral controller
Figure BDA0003320900020000064
With a set yaw angle
Figure BDA0003320900020000065
The proportionality coefficient of (a); kPIs a proportionality constant; kIIs integral and normal; kDIs a differential constant; e (k) is the difference between the set yaw angle and the feedback yaw angle value.
Further solving the unfolding angle of the single-side flapping wing
Figure BDA0003320900020000066
Figure BDA0003320900020000067
In the formula (4), the reaction mixture is,
Figure BDA0003320900020000068
to control parameters according to yaw
Figure BDA0003320900020000069
Calculating the current yaw angle under a proportional-integral controller
Figure BDA00033209000200000610
With a set yaw angle
Figure BDA00033209000200000611
The proportionality coefficient of (a);
Figure BDA00033209000200000612
the maximum yaw angle and the minimum yaw angle of the underwater robot are respectively; thetamaxThe maximum angle at which the flapping wings are deployed.
In this embodiment, a control method of a flapping-wing bionic steering device includes the following specific steps:
step 1, the main control module receives a yaw control command and a yaw parameter sent by an upper computer in real time through an RS485RTU communication module
Figure BDA00033209000200000613
And deceleration control command and speed parameter (v)t,vi) And are respectively used for real-time control in a turning mode and a deceleration mode;
step 2, the mode judgment processing program of the main control module judges and decides the control mode according to the control command of the upper computer:
step 2.1, when receiving a deceleration control command, executing a deceleration mode, specifically operating as follows:
if the set speed vtNot less than real-time speed viWhen the underwater robot is in operation, the underwater robot judges that speed reduction is not needed, as shown in fig. 3, the left flapping wing motor 3 and the right flapping wing motor 1 are in original positions and do not move, the left flapping wing 4 and the right flapping wing 5 are close to the main body, and the resistance generated by the flapping wings of the underwater robot is the minimum at the moment;
if the set speed isvt< real-time speed viAnd if the speed is required to be reduced, the main control module calculates the unfolding angle theta of the flapping wings at the two sides of the underwater robotvSimultaneously controlling the left flapping wing driving module and the right flapping wing driving module to respectively drive the left flapping wing motor 3 and the right flapping wing motor 1 to uniformly unfold the left and the right flapping wings to an angle thetavThe position of (a); meanwhile, the left flapping wing built-in encoder and the right flapping wing built-in encoder respectively collect position signals of the left flapping wing driving motor and the right flapping wing driving motor, and the position signals are correspondingly converted and amplified by the left flapping wing encoder signal converter and the right flapping wing encoder signal converter and then fed back to the main control module, so that the main control module performs closed-loop motion control on the left flapping wing driving motor 3 and the right flapping wing driving motor 1 according to the fed-back position signals to achieve the angle thetavThe position of (a); so that the underwater robot is decelerated to the set speed v under the action of uniform stress of the flapping wings at the two sidestAnd feeding back the deceleration completion signal to the upper computer.
Step 2.2 when receiving the yaw control command, executing the turning mode, specifically as follows:
if the set yaw angle is set
Figure BDA0003320900020000071
If so, determining that no steering action is needed;
if the set yaw angle is set
Figure BDA0003320900020000072
If so, judging that the vehicle turns to the right; the main control module calculates the unfolding angle of the right flapping wing of the underwater robot
Figure BDA0003320900020000073
Meanwhile, the right flapping wing driving module is used for controlling the right flapping wing driver to drive the right flapping wing motor 1 to ensure that the flapping wings are unfolded to an angle
Figure BDA0003320900020000074
And the left flapping wing does not move and is in the initial position; meanwhile, the right flapping wing encoder collects and calibrates the position of the right flapping wing driving motor 1The position signal is converted and amplified by a right flapping wing encoder signal converter and then output to the main control module, so that the main control module performs closed-loop motion control on the right flapping wing driving motor 1 according to the feedback position signal to achieve angle
Figure BDA0003320900020000075
The position of (a); so that the underwater robot deflects to the right direction under the condition that the force applied to the right side flapping wing is greater than that of the left side flapping wing
Figure BDA0003320900020000076
Feeding back a turning completion signal to an upper computer;
if the set yaw angle is set
Figure BDA0003320900020000077
If so, judging that the vehicle turns to the left; the main control module calculates the unfolding angle of the left flapping wing of the underwater robot
Figure BDA0003320900020000078
Meanwhile, the left flapping wing driving module is used for controlling the right flapping wing driver to drive the left flapping wing motor 3 to ensure that the flapping wings are unfolded to an angle
Figure BDA0003320900020000079
The right flapping wing does not move and is in the initial position; meanwhile, the left flapping wing encoder collects and calibrates the position signal of the left flapping wing driving motor 3, and the position signal is converted and amplified by the left flapping wing encoder signal converter and then output to the main control module, so that the main control module performs closed-loop motion control on the left flapping wing driving motor 3 according to the fed-back position signal to achieve angle control
Figure BDA00033209000200000710
The position of (a); therefore, under the condition that the force applied to the left flapping wing is greater than that of the right flapping wing, the course of the underwater robot deflects to the left
Figure BDA00033209000200000711
And feeding back a turning completion signal to the upper computer.

Claims (5)

1. A flapping wing type bionic steering control device is characterized by being used for controlling an underwater robot and comprising: the main control module, the communication module, the left flapping wing driving module, the right flapping wing driving module and the power supply module;
wherein the left flapping wing driver module comprises: the system comprises a left flapping wing motor driver, a left flapping wing motor, a left flapping wing encoder signal converter and a left flapping wing encoder; the right flapping wing drive module comprises: the system comprises a right flapping wing motor driver, a right flapping wing motor, a right flapping wing encoder signal converter and a right flapping wing encoder; the communication module includes: an RS485RTU communication module;
the output end of the main control module is respectively connected with the left flapping wing motor driver of the left flapping wing driving module, the right flapping wing motor driver of the right flapping wing driving module and the input end of the communication module;
the input end of the main control module is respectively connected with a left flapping wing encoder signal converter of the left flapping wing driving module, a right flapping wing encoder signal converter of the right flapping wing driving module, the output end of the communication module and the output end of the power supply module;
the output end of the power supply module is also respectively connected with the input end of the left flapping wing driving module, the input end of the right flapping wing driving module and the output end of the communication module; the input end of the communication module is also connected with an upper computer;
the main control module receives the yaw control command and the yaw parameter sent by the upper computer in real time through the RS485RTU communication module
Figure FDA0003320900010000011
And deceleration control command and speed parameter (v)t,vi) And are respectively used for real-time control in a turning mode and a deceleration mode; wherein,
Figure FDA0003320900010000012
indicating yaw angle sum set by underwater robot
Figure FDA0003320900010000013
Representing a current yaw angle fed back by the underwater robot in real time, and the yaw angle
Figure FDA0003320900010000014
The deviation angle of the advancing direction of the underwater robot and the vertical projection of the ground under a world coordinate system is determined;
Figure FDA0003320900010000015
a negative value represents a turn to the left,
Figure FDA0003320900010000016
turn right for positive representation; v. oftRepresenting the set velocity and v of the underwater robotiRepresenting the real-time speed of the underwater robot.
2. The flapping-wing bionic steering control device of claim 1, wherein when the deceleration control command is received, the deceleration mode real-time control is executed as follows:
if the set speed vtNot less than real-time speed viWhen the speed is not reduced, the left flapping wing motor and the right flapping wing motor are in the original positions and do not move;
if the set speed vt< real-time speed viAnd if the speed is required to be reduced, the main control module calculates the unfolding angle theta of the flapping wings at the two sides of the underwater robotvSimultaneously controlling the left flapping wing driving module and the right flapping wing driving module to respectively unfold the flapping wings at the two sides to an angle theta at a constant speedvThe position of (a); meanwhile, the left flapping wing built-in encoder and the right flapping wing built-in encoder respectively collect position signals of the left flapping wing driving motor and the right flapping wing driving motor and correspondingly feed back the position signals to the main control module after the position signals are converted, amplified and processed by the left flapping wing encoder signal converter and the right flapping wing encoder signal converter, so that the main control module carries out the position signal feedback on the left flapping wing driving motor and the right flapping wing driving motorClosed loop motion control to achieve angle thetavThe position of (a); so that under the action of uniform stress on the flapping wings at two sides, the underwater robot is decelerated to a set speed vtAnd feeding back the deceleration completion signal to the upper computer.
3. The flapping bionic steering control device of claim 1, wherein when the yaw control command is received, the real-time control of the turning mode is performed as follows:
if it is set
Figure FDA0003320900010000021
If so, determining that no steering action is needed;
if it is set
Figure FDA0003320900010000022
If so, judging that the vehicle turns to the right; the main control module calculates the unfolding angle of the right flapping wing of the underwater robot
Figure FDA0003320900010000023
Meanwhile, the right flapping wing driving module is used for controlling the right flapping wing driver to drive the right flapping wing motor to enable the flapping wing to be unfolded to an angle
Figure FDA0003320900010000024
And the left flapping wing does not move and is in the initial position; meanwhile, the right flapping wing encoder collects and calibrates position signals of the right flapping wing driving motor, and the position signals are converted and amplified by the right flapping wing encoder signal converter and then output to the main control module, so that the main control module performs closed-loop motion control on the right flapping wing driving motor according to the feedback position signals to achieve angle control
Figure FDA0003320900010000025
The position of (a); so that under the condition that the force applied to the right-side flapping wing is greater than that of the left-side flapping wing, the course of the underwater robot deflects to the right
Figure FDA0003320900010000026
Feeding back a turning completion signal to the upper computer;
if it is set
Figure FDA0003320900010000027
If so, judging that the vehicle turns to the left; the main control module calculates the unfolding angle of the left flapping wing of the underwater robot
Figure FDA0003320900010000028
Meanwhile, the left flapping wing driving module is used for controlling the right flapping wing driver to drive the left flapping wing motor to enable the flapping wing to be unfolded to an angle
Figure FDA0003320900010000029
The right flapping wing does not move and is in the initial position; meanwhile, the left flapping wing encoder collects and calibrates position signals of the left flapping wing driving motor, the position signals are converted and amplified by the left flapping wing encoder signal converter and then are output to the main control module, and the main control module controls the closed-loop motion of the left flapping wing driving motor according to the feedback position signals to achieve angle control
Figure FDA00033209000100000210
The position of (a); therefore, under the condition that the force applied to the left flapping wing is greater than that of the right flapping wing, the course of the underwater robot deflects to the left
Figure FDA00033209000100000211
And feeding back a turning completion signal to the upper computer.
4. The flapping wing bionic steering control device of claim 2, wherein the main control module calculates the angle θ of bilateral flapping wing deployment by using formula (1)v：
Figure FDA00033209000100000212
In formula (1): Δ v is a control parameter (v) according to speedt,vi) Calculating real-time velocity v under proportional-integral controlleriWith a set speed vtThe proportionality coefficient of (a); v. ofmax、vminThe maximum and minimum running speeds of the underwater robot are respectively; thetamaxThe maximum angle at which the flapping wings are deployed.
5. The flapping type bionic steering control device according to claim 3, wherein the main control module (1) calculates the unfolding angle of the double-sided flapping wing by using the formula (2)
Figure FDA0003320900010000031
Figure FDA0003320900010000032
In the formula (2), Δ v is a parameter according to yaw control
Figure FDA0003320900010000033
Calculating the current yaw angle under a proportional-integral controller
Figure FDA0003320900010000034
With a set yaw angle
Figure FDA0003320900010000035
The proportionality coefficient of (a);
Figure FDA0003320900010000036
the maximum yaw angle and the minimum yaw angle of the underwater robot are respectively; thetamaxThe maximum angle at which the flapping wings are deployed.
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