CN115437389A - Underwater robot based on sea flatworm bionics and anti-interference control method - Google Patents
Underwater robot based on sea flatworm bionics and anti-interference control method Download PDFInfo
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Abstract
The invention relates to the field of underwater bionic robot control, and discloses an underwater robot anti-interference control method based on sea flatworm bionics, which comprises the following steps: the attitude angle of the underwater robot is obtained in real time, anti-interference training is carried out on disturbed flows of different sizes, the PID parameters of the bionic robot are obtained, error analysis is carried out on the attitude angle, the output of a motor and a steering engine of the underwater robot is adjusted according to the error value of the attitude angle, the attitude angle is input into a neural network to be trained, an expected PID value is obtained, a signal value of PWM to be output is obtained through a certain PID algorithm, forward and reverse rotation of the motor, thrust is regulated and controlled according to the PWM signal value, the steering engine rotates in angle, and the attitude of the underwater robot is adjusted. The method can obtain an initial PID parameter list, and can obtain PID parameters conforming to most complex water bodies through training of the neural network.
Description
Technical Field
The invention relates to the field of underwater bionic robot control, in particular to an underwater robot based on sea flatworm bionics and an anti-interference control method.
Background
The underwater robot based on sea flatworm bionics refers to a bionic robot designed according to the motion form of the sea flatworm, simulates the wave type propelling mode of the sea flatworm, and the flexible fin surfaces on two sides move in a wave type mode and propel by means of the water reaction.
The underwater robot based on the sea flatworm bionics can be influenced by water waves driven by the movement of the underwater robot and various water changes around the underwater robot during underwater movement, so that the underwater robot based on the sea flatworm bionics can gradually deviate from an originally set movement route along with the water waves.
For the underwater robot based on sea flatworm bionics, the control method generally includes two types: firstly, the main control chip is used for comparing the PWM parameter value with an initial set value, so that the PWM parameter value is changed to meet the requirement of controlling the robot; secondly, the attitude of the underwater robot based on the bionic sea flatworms is measured in real time by a sensor and is transmitted to a main control chip, and an expected PWM signal value is calculated on the main control chip through a PID algorithm according to the set initial value and the real-time attitude numerical value of the underwater robot based on the bionic sea flatworms, so that the rotating speed of a motor is changed; the former has higher requirements on the stability of a water body, and the error in a certain direction can be increased in order to reach an initial set value, but the cost is lower, while the latter can be better suitable for various water bodies and can better utilize the computing power of a main control chip, so that the underwater robot based on the simulation of the flatworms on the sea and the anti-interference control method are provided.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an underwater robot based on sea flatworm bionics and an anti-interference control method, so as to solve the problems.
(II) technical scheme
In order to achieve the above purpose, the invention provides the following technical scheme:
the utility model provides an underwater robot based on sea flatworm is bionical, includes head, flexible main part skeleton and afterbody, and flexible main part skeleton comprises a plurality of joints, flexible main part skeleton is connected with the afterbody, and the head setting is in one side of flexible main part skeleton, and is provided with two nylon wires that run through flexible main part skeleton joint on the head.
Preferably, the head comprises a head sealing cabin, a camera, underwater infrared probes, steering engines, a steering engine disk I and a steering engine disk II, the underwater infrared probes are arranged on the left side and the right side of the head sealing cabin respectively, the camera is arranged between the two underwater infrared probes, an independent power supply and the steering engines are arranged inside the head sealing cabin, the steering engine disk II is arranged above the steering engine disk I, the steering engine disk I is arranged above the steering engines, and the nylon wires are arranged on the steering engine disk I.
Preferably, the joints comprise two extension rods, two first connecting parts, a connecting spring, a D Kong Ruanzhou connector, a connecting sleeve, a cam joint, a cross shaft end fixing block, a connecting cross shaft and a swing rod, the two extension rods are rotatably connected together through the connecting cross shaft on positions corresponding to two connecting part connecting holes, the cross shaft end fixing blocks are arranged at two ends of the connecting cross shaft and are clamped with the first connecting parts, the D Kong Ruanzhou connector is inserted into the first connecting parts, the connecting sleeve is arranged at the inserting position of the D Kong Ruanzhou connector and the first connecting part, the D Kong Ruanzhou connector on the first connecting parts and the cam joint end between the two first connecting parts are inserted together, the D Kong Ruanzhou connectors in the two adjacent joints are connected together through the flexible shaft, the swing rods are fixedly connected with the swing rods on one side close to each other, connecting notches are arranged on positions corresponding to the cam joint of the two swing rods and are movably connected with the cam joint, the cam joint has a deviation value of a ninety degree, each zero point of each extension rod passes through a two zero points, the same side, the silicone rubber connecting shaft, the silicone rubber joint drives the swing joint to drive the swing joint to form a wave-shaped swing joint swing, and push the tail of the swing film swing joint to drive the swing film to swing joint to swing film to swing.
Preferably, two adjacent connecting parts in each joint are connected together through a connecting spring, and a circular hole for inserting a nylon wire is formed in the free end of each extension rod.
Preferably, the head comprises a motor cabin, a tail sealing cabin and a sealing cabin cover plate, the motor cabin is arranged inside the tail sealing cabin, the sealing cabin cover plate is arranged at the tail end of the tail sealing cabin, a motor is arranged inside the motor cabin, and the motor is connected with the flexible shaft.
Furthermore, a lithium battery, an attitude measurement component, a PID controller, an L298N motor driving module and an LM2598 voltage reduction module are arranged inside the tail sealed cabin, and the PID controller and the attitude measurement component are connected together and fixed on the upper plane of the tail sealed cabin to keep an initial horizontal state.
Furthermore, the attitude measurement assembly is a nine-axis gyroscope, the PID controller is a central processing chip STM32F103, and the PID controller and the attitude measurement assembly are arranged in a sealed cabin and are embedded into holes in the upper wall of the sealed cabin after being stably connected, so that the reliability of electrical connection is ensured.
An underwater robot anti-interference control method based on sea flatworm bionics comprises the following steps:
s1: acquiring the attitude angle of the underwater robot in real time;
s2: carrying out anti-interference training on disturbed flows with different sizes to obtain PID parameters of the bionic robot;
s3, carrying out error analysis on the attitude angle, and adjusting the output of a motor and a steering engine of the underwater robot according to the error value of the attitude angle;
s4, inputting the attitude angle into a neural network for training to obtain an expected PID value, and obtaining a PWM signal value to be output through a certain PID algorithm;
and S5, regulating and controlling the forward and reverse rotation and the thrust of the motor and the rotation angle of the steering engine according to the PWM signal value, and regulating the posture of the underwater robot.
Preferably, the PID parameter acquisition content in S2 is as follows:
the first step is as follows: acquiring an initial attitude angle of the underwater bionic robot under different disturbed flows;
the second step is that: training the initial attitude angle by a neural network, and outputting a training PID parameter;
the third step: and corresponding the trained PID parameters to the initial attitude angle, and determining a PID parameter list.
Preferably, the error analysis of the attitude angle in S3 includes the following steps:
the first step is as follows: carrying out data filtering processing on the attitude angle;
the second step is that: obtaining an error value of the attitude angle;
the third step: the error value is used to characterize the difference between the attitude angle and the initial attitude angle.
Preferably, the calculating of the PWM signal value by the PID algorithm in S4 includes the following steps:
the first step is as follows: inputting an attitude angle into the PID controller;
the second step is that: calculating to obtain PID parameter increment according to the training result;
the third step: adding the PID parameter increment and the initial PID parameter to obtain a target PID parameter, wherein the target PID parameter is used for representing the initial PID parameter of the next operation in the PID algorithm;
the fourth step: and carrying out PID calculation on the Euler angle according to the target PID parameter, and calculating by a PID algorithm to obtain a PWM signal value.
Preferably, the attitude of the underwater robot is adjusted by forward and reverse rotation of the motor in the step S5:
when the left motor and the right motor rotate forwards simultaneously, the underwater robot is driven to move forwards;
when the left motor and the right motor rotate reversely at the same time, the underwater robot is driven to move backwards.
Preferably, the steering engine angle in S5 is adjusted to adjust the attitude of the underwater robot:
when the steering engine rotates forwards, the bionic robot bends upwards to realize the integral floating function of the underwater robot;
when the steering engine rotates reversely, the bionic robot bends upwards and downwards, and the integral diving function of the underwater robot is realized.
(III) advantageous effects
Compared with the prior art, the underwater robot anti-interference control method based on the sea flatworm bionics has the following beneficial effects:
1. according to the underwater robot based on sea flatworm bionics and the anti-interference control method, the attitude angle of the underwater bionic robot is obtained and transmitted in real time through the nine-axis sensor, the main control chip is used for calculating the real-time attitude angle through the PID algorithm to obtain an expected PWM signal value, the action of the underwater robot is adjusted continuously, and balance and stability of the underwater robot in all directions during movement can be guaranteed.
2. According to the underwater robot based on the sea flatworm bionics and the anti-interference control method, the initial PID parameter list is obtained by putting the underwater bionic robot into disturbed flows of different sizes for anti-interference training, and the PID parameters which accord with most of complex water bodies can be obtained by training through the neural network.
3. The underwater robot based on sea flatworm bionics and the anti-interference control method can be suitable for most of complex water body environments, and can also perform different anti-interference actions aiming at different water flow interferences, such as positive and negative rotation of a motor and angular rotation of a steering engine.
Drawings
FIG. 1 is a schematic view of a three-dimensional structure of a bionic underwater robot for sea flatworms according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of another perspective view of the underwater robot for sea flatworm simulation according to the embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a first connecting portion and a second connecting portion according to an embodiment of the present invention;
fig. 4 is a schematic view of a connection structure of a connector D Kong Ruanzhou and a flexible shaft according to an embodiment of the present invention.
In the figure: 1. an underwater infrared probe; 2. a camera; 3. a head-sealed cabin; 4. a steering engine; 5. a steering engine disc I; 6. a second steering engine disc; 7. a motor compartment; 8. a tail sealed cabin; 9. sealing the deck plate; 10. a D Kong Ruanzhou connector; 11. connecting sleeves; 12. a cam joint; 13. fixing blocks at the end parts of the transverse shafts; 14. connecting a cross shaft; 15. a swing rod; 16. an extension pole; 17. a first connecting part; 18. a connecting spring; 19. a flexible shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1 to 4, the underwater robot based on sea flatworm bionics provided in this embodiment includes a head portion, a flexible main body skeleton and a tail portion, the flexible main body skeleton is composed of a plurality of joints, the flexible main body skeleton is connected to the tail portion, the head portion is disposed on one side of the flexible main body skeleton, and two nylon threads penetrating through the joints of the flexible main body skeleton are disposed on the head portion.
Further, the head comprises a head sealing cabin 3, a camera 2, an underwater infrared probe 1, a steering engine 4, a steering engine disk I5 and a steering engine disk II 6, the left side and the right side of the head sealing cabin 3 are respectively provided with the underwater infrared probe 1, the camera 2 is arranged between the two underwater infrared probes 1, an independent power supply and the steering engine 4 are arranged inside the head sealing cabin 3, the steering engine disk II 6 is arranged above the steering engine disk I5, the steering engine disk I5 is arranged above the steering engine 4, and two nylon wires are arranged on the steering engine disk I5.
Further, the joint comprises two extension rods 16, two connecting parts I17, a connecting spring 18, a D Kong Ruanzhou connector 10, a connecting sleeve 11, a cam joint 12, a cross shaft end fixing block 13, a connecting cross shaft 14 and a swing rod 15, the two extension rods 16 are rotatably connected together through the connecting cross shaft 14 at positions corresponding to connecting holes of the two connecting parts I17, the cross shaft end fixing blocks 13 are arranged at two ends of the connecting cross shaft 14, the cross shaft end fixing blocks 13 are clamped with the connecting parts I17, the two connecting parts I17 are inserted with the D Kong Ruanzhou connector 10, the D Kong Ruanzhou connector 10 and the connecting parts I17 are inserted with the connecting sleeve 11, the D Kong Ruanzhou connector 10 on the two connecting parts I17 is inserted with the end part of the cam joint 12 between the two connecting parts I17, D Kong Ruanzhou connector 10 in two adjacent joints links together through flexible axle 19, one side fixedly connected with pendulum rod 15 that two extension bars 16 are close to each other, be provided with connection notch on the position that two pendulum rods 15 correspond cam joint 12 connecting axle, connection notch and cam joint 12 swing joint, cam joint 12 in two adjacent joints has ninety degree deviation value, extension bar 16 of same one side all establishes ties through two millimeters of silica gel film at zero in every joint, the afterbody drive drives flexible axle 19 rotatory, flexible axle 19 drives cam joint 12 and rotates, cam joint 12 extrudees from top to bottom in the connection notch of pendulum rod 15, drive pendulum rod 15 swings, then the silica gel film presents the wave swing, finally form the wavy mode and impel.
Furthermore, two adjacent first connecting parts 17 in each joint are connected together through a connecting spring 18, and a reserved hole for inserting a nylon thread is formed in the free end of each extension rod 16.
Further, the head includes motor cabin 7, afterbody sealed cabin 8 and sealed cabin cover plate 9, and motor cabin 7 sets up in the inside of afterbody sealed cabin 8, and the end of afterbody sealed cabin 8 installs sealed cabin cover plate 9, and the inside of motor cabin 7 is provided with the motor, and the motor is connected with flexible axle 19.
Furthermore, a lithium battery, an attitude measurement component, a PID controller, an L298N motor driving module and an LM2598 voltage reduction module are arranged inside the tail sealed cabin 8, and the PID controller and the attitude measurement component are connected together and fixed on the upper plane of the tail sealed cabin 8 to keep an initial horizontal state.
Furthermore, the attitude measurement assembly is a nine-axis gyroscope, the PID controller is a central processing chip STM32F103, and the PID controller and the attitude measurement assembly are arranged in a tail sealed cabin 8 and are embedded into holes in the upper wall of the sealed cabin after being stably connected, so that the reliability of electrical connection is ensured.
Two nylon wires are symmetrically distributed and connected according to the center point of the steering engine disc 5, the left nylon rope penetrates through a reserved hole above the extension rod 16 of all joints and is fixed at the extension rod 16 in the last joint, the right nylon wire penetrates through a reserved hole below all joints and is fixed at the extension rod 16 in the last joint, when the steering engine disc 5 rotates clockwise to drive the left nylon wire to wind the steering engine disc 5, namely the left nylon wire is drawn and shortened, the distance between the upper half parts of the whole joints is compressed, the right nylon wire is relaxed, the distance between the lower half parts of the whole joints is increased due to the compression of the distance between the upper half parts, the whole bending is achieved, and even in the whole bending state, the flexible shaft 19 can also ensure the transmission of the torque of the motor.
An underwater robot anti-interference control method based on sea flatworm bionics comprises the following steps:
step 1: acquiring an attitude angle of the underwater bionic robot in real time;
and 2, step: putting the underwater bionic robot into disturbed flows with different sizes for anti-interference training; putting the bionic underwater robot into water flows with different water flow speeds for anti-interference training, acquiring initial attitude angle data before and after interference caused by different turbulent flow interference and self motion of the underwater bionic robot in real time by using an upper computer, and exporting and sorting the data by using the upper computer to obtain an initial PID parameter list of the bionic robot;
and step 3: performing anti-interference training on the underwater bionic robot on different disturbed flows to obtain initial attitude angle data in real time for error analysis, adjusting the output of a motor and a steering engine 4 of the underwater bionic robot according to the error value of the initial attitude angle, and obtaining the attitude angle after adjustment under different disturbed flows;
and 4, step 4: inputting the initial attitude angles under different disturbed flows and the adjusted attitude angles under different disturbed flows into a neural network for training to obtain an expected PID value, and obtaining a PWM signal value to be output through a certain PID algorithm;
and 5: the main control chip is used for regulating and controlling the forward and reverse rotation and the thrust of the motor and the rotation angle of the steering engine 4 according to the PWM signal value, so that the posture of the underwater bionic robot is regulated;
the underwater bionic robot is placed in an underwater environment with different interference water flows for anti-interference training, an indoor swimming pool can be used as an underwater simulation environment, and water pipe nozzles with different water flow speeds are used for simulating different water wave influences or directly performing field training underwater. Acquiring an initial attitude angle of the underwater bionic robot in real time in different interference environments, transmitting the initial attitude angle to a PID (proportion integration differentiation) controller through Bluetooth, remotely controlling and outputting PID parameters and the initial attitude angle through WiFi (wireless fidelity) wireless communication, and decomposing the attitude angle into deflection values relative to an x axis, a y axis and a z axis in a reference coordinate system; performing function analysis by using the PID parameters and time t, and recording initial PID parameters when the change of the PID parameters tends to be stable within a certain time; simultaneously recording attitude angles of the underwater bionic robot, namely the angle values of the x axis, the y axis and the z axis relative to a reference coordinate system, and obtaining the angle change range of three axes by making a difference with the angle values of the x axis, the y axis and the z axis under an initial reference coordinate system; a PID parameter list is obtained.
As a preferable technical solution, in the step 3, the performing of the error analysis on the attitude angle includes:
and carrying out data filtering processing on the attitude angle to obtain an error value of the attitude angle, wherein the error value is used for representing the difference between the attitude angle and the initial attitude angle.
The error value of the attitude angle is the attitude angle with the error continuously reduced after data filtering processing, the relative error between the attitude angle and three axes of a reference coordinate system x, y and z is represented, the maximum value of the attitude angle is obtained within a certain time, whether the underwater bionic robot is in a stable motion state or not is required to be determined under the condition that the attitude angle is the maximum value, and when the maximum value is too large to exceed a stable range or the maximum value is too small, the error is rapidly reduced by utilizing the difference of the positive and negative rotation of the left motor and the right motor on the acting force of water, so that the underwater robot returns to the stable state. The attitude angle of the underwater bionic robot can be obtained through the attitude measurement component BWT901, data filtering processing is carried out on the attitude angle through a Kalman filtering algorithm, information of the attitude angle is transmitted in real time through the attitude angle measurement component, noise interference is reduced, a more accurate attitude angle is obtained, system errors can be reduced, and then a more accurate error value of the attitude angle is obtained.
As a preferred technical solution, in step 3, the adjusting of the output of the motor and the steering engine 4 of the underwater biomimetic robot according to the error value of the initial attitude angle and the obtaining of the adjusted attitude angle under different turbulence include:
when the error value is larger than zero, the motor is adjusted to be in reverse rotation on the basis of the initial motion state, and the steering engine 4 is controlled to bend downwards to continuously reduce the error value of the attitude angle of the underwater bionic robot and obtain the adjusted attitude angle;
when the error value is less than zero, the motor is adjusted to rotate forwards on the basis of the initial motion state, and the steering engine 4 is controlled to bend downwards to continuously reduce the error value of the attitude angle of the underwater bionic robot and obtain the adjusted attitude angle.
As a preferred technical solution, in the step 4, the training is performed by inputting the initial attitude angles under different spoilers and the adjusted attitude angles under different spoilers into the neural network, so as to obtain an expected PID value, and obtaining a signal value of the PWM to be output by using a certain PID algorithm, including:
inputting the attitude angle before adjustment into the PID controller;
calculating to obtain PID parameter increment according to the training result;
adding the PID parameter increment and the initial PID parameter to obtain the target PID parameter, wherein the target PID parameter is used for representing the initial PID parameter of the next operation in the PID algorithm;
and carrying out PID calculation on the Euler angle according to the target PID parameter, and calculating to obtain a PWM signal value through a PID algorithm.
The initial attitude angle is input into a neural network, the initial attitude angle serves as an initial value, the neural network conducts training calculation according to a learning formula, and the increment of the PID parameter is obtained through calculation. The learning formula is:
△W1(k)＝n1Z(k)x1(k)
△W2(k)＝n2Z(k)x2(k)
△W3(k)＝n3Z(k)x3(k)
x1(k)＝e(k)
x2(k)＝e(k-1)
x3(k)＝e(k)-2e(k-1)+e(k-2)
wherein, deltaW 1 (k), deltaW 2 (k), deltaW 3 (k)
And adding the increment of the PID parameter calculated by the neural network and the initial PID parameter to obtain a new initial PID parameter, updating the corresponding initial PID parameter value, taking the new initial PID parameter as the initial PID parameter value calculated by the neural network next time, performing iterative calculation on the PID parameter according to the method, outputting the expected PID parameter value by the neural network finally, and adjusting the value of the final PID parameter by setting the iteration times. The number of iterations depends on the allowable error range, and the initial PID parameters are obtained from the PID parameter table. And performing incremental PID calculation on the attitude angle according to an expected PID parameter, and calculating by a PID algorithm to obtain a PWM signal value. The incremental PID calculation formula is as follows:
△u(k)＝Kp*e(k-1)+Ki*e(k)+Kd*(e(k)-2e(k-1)+e(k-2))；
in the formula, deltau (k) represents an output change amount, k represents a positive integer, kp represents a proportional coefficient, ki represents an integral coefficient, kd represents a differential coefficient, e (k-1) represents a target and actual error value k-1 times, e (k) represents a target and actual error value k-times, and e (k-2) represents a target and actual error value k-2 times.
As an optimal technical scheme, the positive and negative rotation and the thrust of the motor are regulated and controlled according to the PWM signal value and the rotation angle of the steering engine 4, the posture of the underwater bionic robot is regulated, and the method comprises the following steps:
regulating and controlling the rotating speeds of the two motors according to the obtained PWM signal values, wherein if the positive rotation of the motors is recorded as the positive direction, the rotating speed range is (-170, 170); according to hydrodynamics, the positive and negative acting force on water generated by a fin of a transmission bionic robot connected with a motor is also in direct proportion to the rotating speed; the steering engine 4 marks that the upward direction is a positive angle relative to the horizontal plane according to the placed position, the rotation angle range of the steering engine 4 is (-90, 90), and the underwater bionic robot is integrally bent upwards or downwards by utilizing the rotation angle of the steering engine 4 to achieve the purpose of adjusting the posture; the rotation speed of the motor and the rotation angle of the steering engine 4 are adjusted according to PWM waves with different duty ratios generated by PWM signal values, and the upper limit and the lower limit of the PWM signal values are not required to be set because a power supply used by the power supply does not exceed the bearing range of the motor and the steering engine 4 and no regulation dead zone exists.
The method obtains an initial PID parameter list by putting disturbed flows of different sizes into the underwater bionic robot for anti-interference training, and obtains PID parameters which accord with most of complex water bodies by training through a neural network.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an underwater robot based on sea flatworm is bionical which characterized in that, includes head, flexible main part skeleton and afterbody, and flexible main part skeleton comprises a plurality of joints, flexible main part skeleton and afterbody are connected, and the head setting is in one side of flexible main part skeleton, and is provided with two nylon wires that run through flexible main part skeleton joint on the head.
2. The sea flatworm-based biomimetic underwater robot of claim 1, characterized in that: the head comprises a head sealing cabin (3), a camera (2), underwater infrared probes (1), steering engines (4), a steering engine disc I (5) and a steering engine disc II (6), the left side and the right side of the head sealing cabin (3) are respectively provided with one underwater infrared probe (1), the camera (2) is arranged between the two underwater infrared probes (1), the inside of the head sealing cabin (3) is provided with an independent power supply and the steering engines (4), the steering engine disc II (6) is arranged above the steering engine disc I (5), the steering engine disc I (5) is arranged above the steering engines (4), and the nylon wires are arranged on the steering engine disc I (5).
3. The sea flatworm-based biomimetic underwater robot of claim 1, characterized in that: the joint comprises two extension rods (16), two first connecting parts (17), a connecting spring (18), a D Kong Ruanzhou connecting head (10), a connecting sleeve (11), a cam joint (12), a transverse shaft end fixing block (13), a connecting transverse shaft (14) and a swing rod (15);
the two extension rods (16) are rotatably connected together through a connecting cross shaft (14) at positions corresponding to connecting holes of the first connecting parts (17), fixing blocks (13) for the end parts of the cross shaft are arranged at two ends of the connecting cross shaft (14), and the fixing blocks (13) for the end parts of the cross shaft are clamped with the first connecting parts (17);
d Kong Ruanzhou connectors (10) are inserted into the two first connecting parts (17), connecting sleeves (11) are arranged at the inserting positions of the D Kong Ruanzhou connectors (10) and the first connecting parts (17), the D Kong Ruanzhou connectors (10) on the two first connecting parts (17) are inserted into the end parts of the cam joints (12) between the two first connecting parts (17), and the D Kong Ruanzhou connectors (10) in the two adjacent joints are connected together through flexible shafts (19);
the two extending rods (16) are fixedly connected with swing rods (15) at one side close to each other, connecting notches are formed in the positions, corresponding to connecting shafts of the cam joints (12), of the two swing rods (15), the connecting notches are movably connected with the cam joints (12), the cam joints (12) in the two adjacent joints have ninety-degree deviation values, and the extending rods (16) on the same side in each joint are connected in series through zero-point two-millimeter silica gel films;
two adjacent connecting parts I (17) in each joint are connected together through a connecting spring (18), and the free end of each extension rod (16) is provided with a circular hole for inserting a nylon thread.
4. The sea flatworm-based biomimetic underwater robot of claim 3, characterized in that: the head comprises a motor cabin (7), a tail sealing cabin (8) and a sealing cabin cover plate (9), the motor cabin (7) is arranged inside the tail sealing cabin (8), and the sealing cabin cover plate (9) is installed at the tail end of the tail sealing cabin (8);
a motor is arranged in the motor cabin (7) and is connected with the flexible shaft (19);
a lithium battery, an attitude measurement component, a PID (proportion integration differentiation) controller, an L298N motor driving module and an LM2598 voltage reduction module are arranged in the tail sealed cabin (8), and the PID controller and the attitude measurement component are connected together and fixed on the upper plane of the tail sealed cabin (8) to keep an initial horizontal state.
5. An underwater robot anti-interference control method based on sea flatworm bionics is characterized by comprising the following steps:
s1: acquiring the attitude angle of the underwater robot in real time;
s2: carrying out anti-interference training on disturbed flows with different sizes to obtain PID parameters of the bionic robot;
s3, carrying out error analysis on the attitude angle, and adjusting the output of a motor and a steering engine (4) of the underwater robot according to the error value of the attitude angle;
s4, inputting the attitude angle into a neural network for training to obtain an expected PID value, and obtaining a PWM signal value to be output through a certain PID algorithm;
and S5, regulating and controlling the forward and reverse rotation and the thrust of the motor and the rotation angle of the steering engine (4) according to the PWM signal value, and regulating the posture of the underwater robot.
6. The underwater robot anti-interference control method based on sea flatworms bionics of claim 5, characterized in that: the PID parameter acquisition content in S2 is as follows:
the first step is as follows: acquiring an initial attitude angle of the underwater bionic robot under different disturbed flows;
the second step: training the initial attitude angle by a neural network, and outputting a training PID parameter;
the third step: and corresponding the trained PID parameters to the initial attitude angle, and determining a PID parameter list.
7. The underwater robot anti-interference control method based on sea flatworm bionics as claimed in claim 5, characterized in that: the step of carrying out error analysis on the attitude angle in the step S3 comprises the following steps:
the first step is as follows: carrying out data filtering processing on the attitude angle;
the second step is that: obtaining an error value of the attitude angle;
the third step: the error value is used to characterize the difference between the attitude angle and the initial attitude angle.
8. The underwater robot anti-interference control method based on sea flatworm bionics as claimed in claim 5, characterized in that: the step of calculating the PWM signal value through the PID algorithm in the step S4 comprises the following steps:
the first step is as follows: inputting an attitude angle into the PID controller;
the second step: calculating to obtain PID parameter increment according to the training result;
the third step: adding the PID parameter increment and the initial PID parameter to obtain a target PID parameter, wherein the target PID parameter is used for representing the initial PID parameter of the next operation in the PID algorithm;
the fourth step: and carrying out PID calculation on the Euler angle according to the target PID parameter, and calculating by a PID algorithm to obtain a PWM signal value.
9. The underwater robot anti-interference control method based on sea flatworms bionics of claim 5, characterized in that: and the positive and negative rotation of the motor in the S5 is used for adjusting the posture of the underwater robot:
when the left motor and the right motor rotate forwards simultaneously, the underwater robot is driven to move forwards;
when the left motor and the right motor rotate reversely at the same time, the underwater robot is driven to move backwards.
10. The underwater robot anti-interference control method based on sea flatworms bionics of claim 5, characterized in that: the adjustment of steering wheel (4) angle in S5 carries out the regulation of gesture to underwater robot:
when the steering engine (4) rotates forwards, the bionic robot bends upwards to realize the function of floating the underwater robot integrally;
when the steering engine (4) rotates reversely, the bionic robot bends upwards and downwards, and the integral diving function of the underwater robot is realized.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116047886A (en) * | 2022-12-16 | 2023-05-02 | 南京安透可智能系统有限公司 | Pipeline submarine robot control method and system based on neural network |
| CN117184382A (en) * | 2023-11-07 | 2023-12-08 | 成都诸元天成智能装备有限公司 | A stable system for submarine real-time gesture |
| CN117452806A (en) * | 2023-12-18 | 2024-01-26 | 广东海洋大学 | Course control method of underwater bionic fish robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116047886A (en) * | 2022-12-16 | 2023-05-02 | 南京安透可智能系统有限公司 | Pipeline submarine robot control method and system based on neural network |
| CN116047886B (en) * | 2022-12-16 | 2024-02-20 | 南京安透可智能系统有限公司 | Pipeline submarine robot control method and system based on neural network |
| CN117184382A (en) * | 2023-11-07 | 2023-12-08 | 成都诸元天成智能装备有限公司 | A stable system for submarine real-time gesture |
| CN117184382B (en) * | 2023-11-07 | 2024-01-19 | 成都诸元天成智能装备有限公司 | A stable system for submarine real-time gesture |
| CN117452806A (en) * | 2023-12-18 | 2024-01-26 | 广东海洋大学 | Course control method of underwater bionic fish robot |
| CN117452806B (en) * | 2023-12-18 | 2024-03-19 | 广东海洋大学 | Course control method of underwater bionic fish robot |
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