CN117550047A - Environment adaptation control method for simulated ray of bate submersible - Google Patents
Environment adaptation control method for simulated ray of bate submersible Download PDFInfo
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- CN117550047A CN117550047A CN202311475099.6A CN202311475099A CN117550047A CN 117550047 A CN117550047 A CN 117550047A CN 202311475099 A CN202311475099 A CN 202311475099A CN 117550047 A CN117550047 A CN 117550047A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000006978 adaptation Effects 0.000 title claims abstract description 17
- 230000009189 diving Effects 0.000 claims abstract description 107
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 44
- 241000288673 Chiroptera Species 0.000 claims abstract description 27
- 230000006399 behavior Effects 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 14
- 238000007667 floating Methods 0.000 claims abstract description 9
- 210000000006 pectoral fin Anatomy 0.000 claims description 41
- 230000005484 gravity Effects 0.000 claims description 29
- 238000005452 bending Methods 0.000 claims description 21
- 230000009182 swimming Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000011835 investigation Methods 0.000 claims description 3
- 241000330899 Hepialus Species 0.000 claims 2
- 230000007613 environmental effect Effects 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 3
- 230000003287 optical effect Effects 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 5
- 239000011664 nicotinic acid Substances 0.000 description 4
- 230000008447 perception Effects 0.000 description 3
- 150000003839 salts Chemical class 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000002352 surface water Substances 0.000 description 2
- 208000028804 PERCHING syndrome Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Engineering & Computer Science (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses an environment adaptation control method for a simulated ray of a ray of light diving device, and relates to the technical field of simulated diving device control. According to three different marine environments of the water surface, the water and the water bottom, the shape and the flapping parameters of the pectoral fins are adjusted by setting CPG parameters of a central pattern generator on the pectoral fins, so that the simulated solar diving device achieves the multi-mode movement behaviors of floating on the water surface, arced gliding in the water, maneuvering with the flapping wings and dwelling on the water bottom. Each sport behavior related by the invention has the typical characteristics of the sport behavior, and the optimum behavior corresponding to the environment exists; aiming at the environment and application requirements, planning an action method to realize the adaptation of the multi-mode behavior of the simulated ray-ray diving device to the environment; has important significance for the self-adaptive control research of the simulated ray of the bats.
Description
Technical Field
The invention relates to the technical field of bionic submersible control, in particular to an environment adaptation control method of a simulated ray of a child submersible.
Background
With the increase of the application range of underwater vehicles, the requirements of people on wide sea area environment observation, long-term self-holding, fine observation of fine-dimension submarine targets and the like are also increasing. At present, the traditional propeller propulsion autonomous underwater vehicle has high navigational speed and mobility, but has a slightly short range, and cannot meet the wide-area underwater environment monitoring requirement. The traditional glider has long voyage time, and is suitable for wide-area long-time coarse dimension underwater monitoring; but the maneuverability is weaker, and the requirements of sea bed monitoring, shoal monitoring, important area inspection and other fine dimension monitoring cannot be met.
The ray adopts intermittent flapping and gliding swimming mode, the pectoral fin driving mode is fine, and the complex three-dimensional flexible large deformation is shown. The maneuvering motions are flexible and various under the modes of underwater perching, bow-shaped gliding, water cruising and the like. The simulated ray diving apparatus takes the ray as a bionic object, combines the technology of flying wings with heavy buoyancy and bionic flapping wings, has the motion modes of arc-shaped gliding, continuous flapping, alternate sliding and the like, thereby having long endurance and high maneuverability, and each motion behavior has the typical characteristics of itself and has the optimal motion mode corresponding to the environment. However, at present, aiming at the 'water surface-water bottom' changeable ocean environment, the matching relation between the multi-mode behaviors of the simulated bated ray diving device and the changeable environment is not established.
Disclosure of Invention
The technical problems to be solved by the invention are as follows:
aiming at the changeable ocean environment of water surface, water in and water bottom, the simulated trastu diving device is controlled better; the invention provides an environment adaptation control method for a simulated bated ray diving apparatus, which realizes the multi-mode action behavior of 'water surface floating-underwater sliding-underwater benthonic'.
In order to solve the technical problems, the invention adopts the following technical scheme:
the environment adaptation control method for the simulated ray-bate diving device is characterized in that the simulated ray-bate diving device realizes the multi-mode movement behaviors of floating on the water surface, bow-shaped gliding-flapping-wing maneuver in the water and benthonic residence according to three different marine environments of the water surface, the water and the benthonic water by adjusting the pectoral fin shape and the flapping parameters.
The invention further adopts the technical scheme that: the water surface floating specifically comprises the following steps: when the simulated ray diving device is positioned on the water surface, the control system receives a shore-based task target instruction through a radio signal, prepares to dive and senses the intensity and direction of water flow and surge through the sensing and driving integrated flapping wing system, receives information of interference of the water flow and the surge, changes the shape of the self flexible pectoral fin by adjusting the upward bending angle or the downward bending angle of the pectoral fin, and avoids front impact on the pectoral fin caused by the surge.
The invention further adopts the technical scheme that: the underwater bow-shaped glider-ornithopter motor comprises the following components:
the control system of the simulated ray diving apparatus sends a diving instruction to the gravity center system and the buoyancy system, the buoyancy system reduces the buoyancy value, the gravity center system adjusts the gravity center forwards, and a gliding diving mode is started; according to the received target position, the simulated ray diving device reads the course information acquired by the attitude sensor in the control system and calculates a course deviation value with the target position; adjusting the heading of the simulated batlight diving device by adjusting the upward arched bending form of the pectoral fin according to the heading deviation value;
when the simulated ray diving device reaches the target depth, the control system sends a flapping instruction to the sensing and driving integrated flapping wing system, the pectoral fins start to flap, and the course and the swimming speed of the simulated ray diving device are changed by changing the amplitude, the phase difference and the frequency of the pectoral fin flapping, so that the vehicle is close to the target position; meanwhile, the flutter gesture of the simulated ray-the-ray-diving device is adjusted, the gravity center adjusting system and the buoyancy system are sent to adjust the gravity center position, the buoyancy system increases the buoyancy value, and the gravity center system adjusts the gravity center backwards until the simulated ray-the-ray-diving device presents zero buoyancy, and the gravity center is the center position of the simulated ray-the-ray-diving device.
The invention further adopts the technical scheme that: the course of the adjusting simulated ray diving device is specifically as follows: when the target course is on the left side of the simulated bats diving device, the left bending angle of the pectoral fin of the simulated bats diving device is adjusted to be smaller than the right bending angle, and the simulated bats diving device is yawed leftwards; when the target course is on the right side of the simulated bats diving device, the left bending angle of the chest fin of the simulated bats diving device is adjusted to be larger than the right bending angle, and the simulated bats light diving device is yawed to the right.
The invention further adopts the technical scheme that: the benthonic residence is specifically as follows: after the simulated ray diving device finishes the investigation of the target information, the flutter amplitude of the simulated ray diving device is reduced, the flutter bias of the simulated ray diving device is increased, the pectoral fins of the simulated ray diving device are in a flutter state above the trunk, the buoyancy value of a buoyancy system is reduced, the simulated ray diving device stably falls to the seabed, the pectoral fins after falling to the bottom stop flutter, the bias returns to zero, and the benthonic resident state is opened.
The invention further adopts the technical scheme that: adjusting pectoral fin morphology and flutter parameters by setting central pattern generator CPG parameters on the pectoral fin; the central pattern generator CPG specifically comprises:
wherein, the three equations are an amplitude equation, a phase equation and an output equation respectively; r in the first equation i Representing amplitude, c i Representing the normal number of controlling the amplitude convergence rate, A i Representing the desired amplitude; phi in the second equation i Representing the phase of the ith cell, v i Represents the natural frequency omega ij Representing the coupling weight of the jth element to the ith element,indicating a desired phase difference; in the third equation θ i Representing the output value, a i Is desirably biased.
The invention has the beneficial effects that:
the environment adaptation control method for the simulated ray of the invention has the following advantages compared with the prior art:
1. the simulated ray diving device senses the surge intensity and direction on the water surface to adjust the pectoral fin state, so that the damage to the pectoral fin mechanism and the main body of the diving device caused by sea surface surges can be effectively avoided.
2. In the submerging process of the simulated ray diving device, the heavy buoyancy is utilized to submerge, so that the sailing power consumption can be greatly reduced, and the sailing range of the diving device can be increased. Meanwhile, by being integrated into the heavy buoyancy propulsion device, a novel bionic bow-shaped gliding mode is adopted, and the higher gliding ratio and the ultrahigh gliding turning maneuverability which are not possessed by the conventional flying wing glider are obtained.
3. After the simulated ray diving device reaches the detection target, the simulated ray diving device moves in a pectoral fin flapping maneuver mode, so that the maneuver capability of the simulated ray diving device is greatly improved, and the target can be conveniently detected in a high maneuver mode.
4. The simulated ray diving device has the multi-mode movement behaviors of arch-gliding, flapping wing maneuvering, benthonic residence and water surface floating, each movement behavior has the typical characteristics of the device, and the optimal behavior corresponding to the environment exists. Aiming at the environment and application requirements, the action method is planned, and the multi-mode behavior of the simulated ray of the light diving device is adapted to the environment. The method for establishing the multi-mode behavior and the environment adaptation control of the batray-simulated diving device is the basis of the stable movement of the batray-simulated diving device, and has important significance for the self-adaptation control research of the batray-simulated diving device.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a schematic diagram of the various systems of a ray-simulated diving apparatus.
1-a buoyancy system; 2-sensing and driving integrated flapping wing system; 3-barycentric systems; 4-an energy system; 5-an optical perception system; 6-an acoustic perception system; 7-a control system; 8-warm salt depth system.
FIG. 2 is a flow chart of an environment adaptation control method for the simulated ray of the bats.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The invention relates to a bated ray-simulated submersible, which is shown in figure 1, and comprises a buoyancy system 1, a sensing and driving integrated flapping wing system 2, a gravity center system 3, an energy system 4, an optical sensing system 5, an acoustic sensing system 6, a control system 7 and a warm salt depth system 8. Wherein, the simulated ray diving device can change the buoyancy state of the simulated ray diving device by adjusting the buoyancy value of the buoyancy system 1; the sensing and driving integrated flapping wing system 2 senses the surrounding flow field interference and the deformation state of the flapping wings, and meanwhile, the sensing and driving integrated flapping wing system 2 realizes the flapping and gliding functions of a sample machine; the gravity center state of the prototype is changed by the gravity center of the gravity center system 3 moving back and forth and the gravity center moving left and right. The energy system 4 supplies power for the simulated ray diving device and provides energy power; the optical sensing system 5 and the acoustic sensing system 6 are used for collecting underwater optical information and acoustic information for the bata-ray-imitating submersible; the simulated ray diving apparatus controls the movement state of the prototype through the control system 7, and acquires the underwater temperature, salinity and depth information through the warm salt depth system 8.
Based on the simulated ray of the bats, the invention provides a simulated ray of the bats submersible environment adaptation control method, which specifically comprises the following steps:
step 1: floating on water
When the simulated ray diving apparatus is positioned near the water surface, the control system of the simulated ray diving apparatus receives the shore-based task target instruction comprising the target position and the target depth through the radio signal, feeds back the self posture and the stored data and prepares for diving.
Meanwhile, the intensity and the direction of water flow and surge are sensed by the sensing and driving integrated flapping wing system, the control system receives information of interference of the water flow and the surge, and the state of the flexible pectoral fin is changed by adjusting the upward bending or downward bending angle of the pectoral fin, so that front impact on the pectoral fin caused by the surge is avoided.
And (2) after the simulated ray diving device receives the shore-based instruction, ending the water surface floating state, preparing for diving, and executing the step (2).
Step 2: arcuate glide in water
The control system of the simulated ray diving apparatus sends a diving instruction to the gravity center system and the buoyancy system, the buoyancy system reduces the buoyancy value, and the gravity center system adjusts the gravity center forward to start a gliding diving mode.
At this time, according to the target position received in the step 1, the simulated batlight diving device reads the course information acquired by the attitude sensor in the control system, and calculates the course deviation value with the target position. And adjusting the heading of the simulated batlight diving device by adjusting the upward arched bending form of the pectoral fin according to the heading deviation value. The method comprises the following steps: when the target course is on the left side of the simulated bats diving device, the left bending angle of the pectoral fin of the simulated bats diving device is adjusted to be smaller than the right bending angle, and the simulated bats diving device is yawed leftwards; when the target course is on the right side of the simulated bats diving device, the left bending angle of the chest fin of the simulated bats diving device is adjusted to be larger than the right bending angle, and the simulated bats light diving device is yawed to the right.
And (3) according to the target depth received in the step (1), calculating the depth deviation value between the self depth of the simulated ray of the light ray and the target depth, wherein the self depth is obtained by a pressure sensor in a simulated ray of the light ray. If the target depth is reached, executing the step 3; and if the target depth is not reached, continuing to maintain the arcuate gliding state of the step 2.
Step 3: aquatic flutter dynamic
When the simulated ray diving device reaches the target depth, the control system sends a flapping instruction to the sensing and driving integrated flapping wing system, the pectoral fins start to flap, and the course and the swimming speed of the simulated ray diving device are changed by changing the amplitude, the phase difference and the frequency of the pectoral fin flapping, so that the vehicle is close to the target position.
Meanwhile, the flutter gesture of the simulated ray of the bats is adjusted, the gravity center adjusting system and the buoyancy system are sent to adjust the gravity center position, the buoyancy system increases the buoyancy value, and the gravity center system adjusts the gravity center backwards until the simulated ray of the bats is zero-buoyancy, and the gravity center is the center position of the simulated ray of the bats;
and simultaneously, starting high-precision surveying of the target, respectively acquiring acoustic and optical information of the target through acoustic equipment and optical equipment, and starting the surveying state of the flapping target.
Specifically, the acoustic device and the optical device according to the embodiments of the present invention are a recorder and a camera.
Step 4: water bottom dwelling state
After the simulated ray diving device finishes the investigation of the target information, the flutter amplitude of the simulated ray diving device is reduced, the flutter bias of the simulated ray diving device is increased, the pectoral fins of the simulated ray diving device are in a flutter state above the trunk, the buoyancy value of a buoyancy system is reduced, the simulated ray diving device stably falls to the seabed, the pectoral fins after falling to the bottom stop flutter, the bias returns to zero, and the benthonic resident state is opened. The acoustic device remains in an on state, facilitating perception of the underwater environment.
According to the different ocean environments of 'water surface-water bottom', the simulated bat submersible shows water surface floating-bow-shaped gliding-flapping wing maneuvering-benthonic residence multi-mode movement behavior, wherein the pectoral fin is a movement mechanism for realizing the multi-mode behavior of the simulated bat submersible, and the multi-mode movement behavior is controlled by a Central Pattern Generator (CPG), in particular:
wherein, the three equations are respectively an amplitude equation, a phase equation and an output equation. R in the first equation i Representing amplitude, c i Representing the normal number of controlling the amplitude convergence rate, A i Representing the desired amplitude; phi in the second equation i Representing the phase of the ith cell, v i Represents the natural frequency omega ij Representing the coupling weight of the jth element to the ith element,indicating a desired phase difference; in the third equation θ i Representing the output value, a i Is desirably biased.
When the simulated ray diving device is in a water surface floating state: set A i ＝0，a i The value is adjusted along with the surge direction, and specifically comprises the following steps: by changing a i The value of the simulated ray diving device is adjusted to be along the surge direction, if the surge direction is opposite to the left side direction of the simulated ray diving device, the left side a i A of left pectoral fin i A of the right pectoral fin with a value greater than 0 i A value equal to 0; conversely, left side a i A of left pectoral fin i A of the right pectoral fin is equal to 0 i The value is greater than 0.
When the simulated ray diving device is in a bow-shaped gliding state in water: set A i ＝0，a i The value is adjusted along with the course deviation from the target position, and specifically: when the target position is on the left side of the bated ray-simulating diving apparatus, the bated ray-simulating diving apparatus needs to turn left, and the left pectoral fin is a i A is greater than the value of a of the right pectoral fin i A value; conversely, when the simulated ray diving apparatus needs to turn right, the right pectoral fin is a i A is greater than a of the left pectoral fin i Values.
When the simulated ray diving device is in water flutter state: a is that i 、v i 、a i The value is adjusted along with the distance and the course of the target position, and specifically comprises the following steps: in A way i ＝50、v i ＝0.5Hz、a i When the target position is on the left side of the simulated bats diving device in the flapping process, the simulated bats diving device needs to turn left, and the left pectoral fin is A i A value greater than the right pectoral fin i A value; conversely, when the simulated ray diving apparatus needs to turn right, the A of the pectoral fin on the right side i A value greater than the left pectoral fin A i Values.
When the simulated ray diving device is in a water-bottom dwelling state: a is that i 、v i 、a i The values are all 0.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made without departing from the spirit and scope of the invention.
Claims (6)
1. The environment adaptation control method for the simulated ray-bate diving device is characterized in that the simulated ray-bate diving device realizes the multi-mode movement behaviors of floating on the water surface, bow-shaped gliding-flapping-wing maneuver in the water and benthonic residence according to three different marine environments of the water surface, the water and the benthonic water by adjusting the pectoral fin shape and the flapping parameters.
2. The environment adaptation control method of the simulated ray of the light ray diving apparatus of claim 1, the method is characterized in that the water surface floating specifically comprises the following steps: when the simulated ray diving device is positioned on the water surface, the control system receives a shore-based task target instruction through a radio signal, prepares to dive and senses the intensity and direction of water flow and surge through the sensing and driving integrated flapping wing system, receives information of interference of the water flow and the surge, changes the shape of the self flexible pectoral fin by adjusting the upward bending angle or the downward bending angle of the pectoral fin, and avoids front impact on the pectoral fin caused by the surge.
3. The environment adaptation control method of the simulated ray of the light ray diving apparatus of claim 1, the underwater bow-shaped glider-ornithopter is characterized in that the underwater bow-shaped glider-ornithopter comprises the following components:
the control system of the simulated ray diving apparatus sends a diving instruction to the gravity center system and the buoyancy system, the buoyancy system reduces the buoyancy value, the gravity center system adjusts the gravity center forwards, and a gliding diving mode is started; according to the received target position, the simulated ray diving device reads the course information acquired by the attitude sensor in the control system and calculates a course deviation value with the target position; adjusting the heading of the simulated batlight diving device by adjusting the upward arched bending form of the pectoral fin according to the heading deviation value;
when the simulated ray diving device reaches the target depth, the control system sends a flapping instruction to the sensing and driving integrated flapping wing system, the pectoral fins start to flap, and the course and the swimming speed of the simulated ray diving device are changed by changing the amplitude, the phase difference and the frequency of the pectoral fin flapping, so that the vehicle is close to the target position; meanwhile, the flutter gesture of the simulated ray-the-ray-diving device is adjusted, the gravity center adjusting system and the buoyancy system are sent to adjust the gravity center position, the buoyancy system increases the buoyancy value, and the gravity center system adjusts the gravity center backwards until the simulated ray-the-ray-diving device presents zero buoyancy, and the gravity center is the center position of the simulated ray-the-ray-diving device.
4. The environment adaptation control method of the simulated ray of the Hepialus logging device according to claim 3, wherein the course of the simulated ray of the Hepialus logging device is adjusted specifically as follows: when the target course is on the left side of the simulated bats diving device, the left bending angle of the pectoral fin of the simulated bats diving device is adjusted to be smaller than the right bending angle, and the simulated bats diving device is yawed leftwards; when the target course is on the right side of the simulated bats diving device, the left bending angle of the chest fin of the simulated bats diving device is adjusted to be larger than the right bending angle, and the simulated bats light diving device is yawed to the right.
5. The environment adaptation control method of the simulated ray of the light ray diving apparatus of claim 1, the method is characterized in that the benthonic residence is specifically as follows: after the simulated ray diving device finishes the investigation of the target information, the flutter amplitude of the simulated ray diving device is reduced, the flutter bias of the simulated ray diving device is increased, the pectoral fins of the simulated ray diving device are in a flutter state above the trunk, the buoyancy value of a buoyancy system is reduced, the simulated ray diving device stably falls to the seabed, the pectoral fins after falling to the bottom stop flutter, the bias returns to zero, and the benthonic resident state is opened.
6. The method for controlling environmental adaptation of a ray-simulated diving apparatus according to claim 1, wherein said pectoral fin morphology and flutter parameters are adjusted by setting a central pattern generator CPG parameter on the pectoral fin; the central pattern generator CPG specifically comprises:
wherein, the three equations are an amplitude equation, a phase equation and an output equation respectively; first equationMiddle r i Representing amplitude, c i Representing the normal number of controlling the amplitude convergence rate, A i Representing the desired amplitude; phi in the second equation i Representing the phase of the ith cell, v i Represents the natural frequency omega ij Representing the coupling weight of the jth element to the ith element,indicating a desired phase difference; in the third equation θ i Representing the output value, a i Is desirably biased. />
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