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提出一种基于专家PID和模糊控制的双闭环深度控制方法,用于实现胸鳍摆动推进模式机器鱼的定深控制.通过控制机器鱼的尾舵摆动角度,可以使机器鱼产生一定的俯仰力矩,从而改变机器鱼的俯仰姿态,实现上浮或下潜运动.给出了机器鱼的相关定深实验,并分析了不同目标深度下俯仰角度初始变化范围存在差异的原因.实验结果表明:本文提出的定深控制方法能够使机器鱼比较准确地稳定在目标深度,以及能够改善机器鱼到达目标深度后稳态游动时的俯仰稳定性,能够较好地实现机器鱼的深度控制.
A double closed-loop depth control method based on expert PID and fuzzy control is proposed to control the depth and depth of the robot’s pectoral fin swinging mode. By controlling the swing angle of the rudder tail of the robot, a certain pitch moment can be produced, So as to change the pitch attitude of the robot fish and achieve the floating or diving movement.The experiments of the relative depth determination of the robot fish are given and the reasons for the differences in the initial variation range of the pitch angles under different target depths are analyzed.The experimental results show that: The deep and deep control method can make the robot fish more stable at the target depth, and can improve the pitch stability of the robot when it reaches the target depth and can realize the depth control of the robot fish.