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浙江大学学报(工学版)
浙江大学学报(工学版)  2019, Vol. 53 Issue (7): 1354-1362    DOI: 10.3785/j.issn.1008-973X.2019.07.015
自动化技术、计算机技术     
基于Hopf振荡器的仿生机器魟鱼胸鳍波形控制算法
王扬威1,2(),范增2,赵东标2,刘凯2
1. 东北林业大学 机电工程学院，黑龙江 哈尔滨 150040
2. 南京航空航天大学 机电学院，江苏 南京 210016
Waveform control algorithm for pectoral fin of robotic stingray based on Hopf oscillator
Yang-wei WANG1,2(),Zeng FAN2,Dong-biao ZHAO2,Kai LIU2
1. College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China
2. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
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摘要：

为了获得与生物魟鱼胸鳍相近的推进波形和游动性能，提出基于Hopf振荡器的仿生中枢模式发生器（CPG）胸鳍波形控制策略. 针对仿生机器魟鱼的结构与游动特征，利用20个Hopf振荡器耦合构建中心式CPG拓扑网络模型；通过输入参数幅值、频率和波数，控制该拓扑网络模型输出仿生机器魟鱼定常巡游、加速游动和机动转弯3种游动模式下胸鳍波形的动态位置信号. 通过仿真验证了该拓扑网络模型能够快速响应输入参数的变化，稳定输出平滑、连续的动态位置信号. 通过试验研究该拓扑网络模型控制仿生机器魟鱼胸鳍波动的可行性以及网络的输入参数对仿生机器魟鱼游动性能的影响. 试验结果表明，该模型能够稳定地输出耦合的波形信号，控制仿生机器魟鱼鳍面形成与生物鱼相似的推进波形，实现各游动模式以及各游动模式间灵活平滑地切换.
关键词： 仿生机器鱼;  胸鳍;  Hopf振荡器;  中枢模式发生器（CPG）    
Abstract:

A bionic central pattern generator pectoral-fin-waveform control strategy was proposed based on Hopf oscillators in order to obtain the propulsive waveform and the swimming performance like that of the pectoral fins of the stingray. A central pattern generator (CPG) topology network model was constructed by 20 coupled Hopf oscillators based on the structure and swimming characteristics of the robotic stingray. The topology network model can output the dynamic position signals of the pectoral-fin-waveform under three different swimming modes- parading, accelerating and turning through the given parameters-amplitude, frequency and wave number. The simulation results show that the topology network model can quickly respond to changes in input parameters and stably output the smooth and continuous dynamic position signal. Experiments were performed to analyze the feasibility of topological network model for controlling the pectoral fin fluctuation and the influence of network input parameters on the swimming performance. The experimental results show that the topological network model can control the fin-surface of the robotic stingray to form a waveform close to that of the fish by stably outputting the coupled waveform signal, which can control robotic stingray to realize various swimming modes and switch between the each swimming modes flexibly and smoothly.
Key words: bionic robotic fish    pectoral fin    Hopf oscillator    central pattern generator (CPG)
收稿日期: 2018-05-29 出版日期: 2019-06-25
CLC:  TP 24  
作者简介: 王扬威（1980—）,男,博士，高工，从事仿生机器人、机电一体化技术及智能装备的研究. orcid.org/0000-0003-2947-7024. E-mail： wywkly@126.com
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引用本文:

王扬威,范增,赵东标,刘凯. 基于Hopf振荡器的仿生机器魟鱼胸鳍波形控制算法[J]. 浙江大学学报(工学版), 2019, 53(7): 1354-1362.

Yang-wei WANG,Zeng FAN,Dong-biao ZHAO,Kai LIU. Waveform control algorithm for pectoral fin of robotic stingray based on Hopf oscillator. Journal of ZheJiang University (Engineering Science), 2019, 53(7): 1354-1362.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2019.07.015    或    http://www.zjujournals.com/eng/CN/Y2019/V53/I7/1354

图 1  Hopf振荡器的动态特性
图 2  仿生原型-魟鱼
图 3  仿生机器魟鱼机械结构
图 4  中心式CPG网络结构
图 5  参数变化时中心式CPG网络的输出信号波形图
图 6  仿生机器魟鱼直线定常游动示意图
图 7  直线定常游动时CPG网络输出的信号波形
图 8  直线加速模式下CPG网络输出信号波形图
图 9  加速模式下仿生机器魟鱼胸鳍波形变化序列图
图 10  游动速度与幅值 $f({z_{i}})$和频率 $f$的关系
图 11  仿生机器魟鱼机动转弯示意图
图 12  机动转弯模式下CPG网络输出信号波形
图 13  非对称方式转弯游动序列图
图 14  非对称方式转弯速度与幅值差的关系
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