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CN113928528B - Flapping wing type bionic steering control device - Google Patents

Flapping wing type bionic steering control device Download PDF

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Publication number
CN113928528B
CN113928528B CN202111245784.0A CN202111245784A CN113928528B CN 113928528 B CN113928528 B CN 113928528B CN 202111245784 A CN202111245784 A CN 202111245784A CN 113928528 B CN113928528 B CN 113928528B
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flapping wing
module
angle
main control
underwater robot
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CN113928528A (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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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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  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (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

一种扑翼式仿生转向控制装置A flapping-wing bionic steering control device

技术领域technical field

本发明涉及水下仿生机器人领域，具体是一种扑翼式仿生转向控制装置。The invention relates to the field of underwater bionic robots, in particular to a flapping-wing bionic steering control device.

背景技术Background technique

水下机器人的高机动性是满足海洋环境研究、海底资源勘探和海防需求的重要指标。转向机构是实现水下机器人高机动性的关键机构。目前水下机器人主要采用螺旋桨推进器结合舵面的偏转或者矢量推进方式来产生机动控制力。在低速运行时，螺旋桨处于非全程旋转的工作状态，其效率将显著降低，并且会产生难以预测的流体脉冲，控制精度较低。而矢量推进方式的成本高昂、技术复杂、对本体结构和控制系统要求较高。加之水下地形、环境复杂，存在暗流、浪、涌等多种不确定因素、非线性耦合、噪声干扰等扰动因素，造成转向控制的难度大。The high mobility of underwater robots is an important indicator to meet the needs of marine environmental research, seabed resource exploration and coastal defense. Steering mechanism is the key mechanism to realize high maneuverability of underwater robot. At present, underwater robots mainly use propeller thrusters combined with the deflection of the rudder surface or vector propulsion to generate maneuvering control force. At low speed, the propeller is in a non-full rotation working state, its efficiency will be significantly reduced, and unpredictable fluid pulses will be generated, and the control accuracy will be low. The cost of vector propulsion is high, the technology is complex, and the requirements for the body structure and control system are relatively high. In addition, the underwater terrain and environment are complex, and there are various uncertain factors such as undercurrent, waves and surges, nonlinear coupling, noise interference and other disturbance factors, which make steering control difficult.

发明内容SUMMARY OF THE INVENTION

本发明是为了解决上述现有技术存在的不足之处，提出一种设计简单、控制方便、低成低的扑翼式仿生转向控制装置，以期能提高水下机器人在低速巡航和转向的效率和灵活性，从而为丰富水下机器人的转向技术以及提高水下机器人低速航行时的机动性奠定基础。In order to solve the above-mentioned shortcomings of the prior art, the present invention proposes a flapping-wing bionic steering control device with simple design, convenient control and low cost, in order to improve the efficiency and efficiency of cruising and steering of the underwater robot at low speed. Flexibility, thus laying the foundation for enriching the steering technology of the underwater robot and improving the maneuverability of the underwater robot at low speed.

为达到上述发明目的，本发明采用如下技术方案：In order to achieve the above-mentioned purpose of the invention, the present invention adopts the following technical solutions:

本发明一种扑翼式仿生转向控制装置的特点在于，用于控制水下机器人，并包括：主控模块、通信模块、左扑翼驱动模块、右扑翼驱动模块和电源模块；The flapping-wing bionic steering control device of the present invention is characterized in that it is used for controlling an underwater robot, and comprises: a main control module, a communication module, a left flapping wing driving module, a right flapping wing driving module and a power supply module;

其中，所述左扑翼驱动模块包含：左扑翼电机驱动器、左扑翼电机、左扑翼编码器信号转换器、左扑翼编码器；所述右扑翼驱动模块包含：右扑翼电机驱动器、右扑翼电机、右扑翼编码器信号转换器、右扑翼编码器；所述通信模块包括：RS485RTU通讯模块；Wherein, the left flapping wing drive module includes: 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 includes: a right flapping wing motor Driver, right flapping motor, right flapping encoder signal converter, right flapping encoder; the communication module includes: RS485RTU communication module;

所述主控模块的输出端分别连接所述左扑翼驱动模块的左扑翼电机驱动器、右扑翼驱动模块的右扑翼电机驱动器、所述通信模块的输入端；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;

所述主控模块的输入端分别连接所述左扑翼驱动模块的左扑翼编码器信号转换器、所述右扑翼驱动模块的右扑翼编码器信号转换器、所述通信模块的输出端、所述电源模块的输出端；The input end of the main control module is respectively connected to the left flapping wing encoder signal converter of the left flapping wing drive module, the right flapping wing encoder signal converter of the right flapping wing drive module, and the output of the communication module. terminal, the output terminal of the power module;

所述电源模块的输出端还分别连接所述左扑翼驱动模块的输入端、所述右扑翼驱动模块的输入端、所述通信模块的输入端；所述通信模块的输入端还连接上位机；The output end of the power supply module is also respectively connected to the input end of the left flapping wing drive module, the input end of the right flapping wing drive module, and the input end of the communication module; the input end of the communication module is also connected to the upper position. machine;

所述主控模块通过所述RS485RTU通讯模块实时接收所述上位机发送的偏航控制命令和偏航参数

Figure GDA0003735264240000011
以及减速控制命令和速度参数(vt,vi)，并分别用于转弯模式下和减速模式下的实时控制；其中，
Figure GDA0003735264240000021
表示水下机器人所设定的偏航角和
Figure GDA0003735264240000022
表示水下机器人实时反馈的当前偏航角，且所述偏航角
Figure GDA0003735264240000023
为水下机器人前进方向与地面垂直投影在世界坐标系下的偏离角度；
Figure GDA0003735264240000024
为负代表向左转弯，
Figure GDA0003735264240000025
为正代表向右转弯；vt表示水下机器人所设定的速度和vi表示水下机器人的实时速度。The main control module receives the yaw control commands and yaw parameters sent by the upper computer in real time through the RS485RTU communication module
Figure GDA0003735264240000011
and deceleration control commands and speed parameters (v t , v i ), which are used for real-time control in turning mode and deceleration mode, respectively; where,
Figure GDA0003735264240000021
represents the yaw angle set by the underwater robot and
Figure GDA0003735264240000022
represents the current yaw angle of the real-time feedback of the underwater robot, and the yaw angle
Figure GDA0003735264240000023
is the deviation angle between the forward direction of the underwater robot and the vertical projection of the ground in the world coordinate system;
Figure GDA0003735264240000024
Negative means turn left,
Figure GDA0003735264240000025
is positive to represent turning to the right; v t represents the speed set by the underwater robot and v i represents the real-time speed of the underwater robot.

本发明所述扑翼式仿生转向控制装置的特点也在于，收到所述减速控制命令时，执行减速模式实时控制为：The flapping-wing bionic steering control device of the present invention is also characterized in that, when the deceleration control command is received, the real-time control of the deceleration mode is performed as follows:

若所述设定的速度vt≥实时速度vi时，则判断为无需减速，左扑翼电机和右扑翼电机处于原始位置且无动作；If the set speed v t ≥ the real-time speed v i , it is judged that no deceleration is required, and the left flapping motor and the right flapping motor are in their original positions and have no action;

若所述设定的速度vt＜实时速度vi时，则判断为需要减速，所述主控模块计算水下机器人的双侧扑翼展开的角度θv，同时控制所述左扑翼驱动模块和右扑翼驱动模块分别将两侧扑翼匀速展开至角度θv的位置；同时，所述左扑翼内置编码器与右扑翼内置编码器分别采集左扑翼驱动电机和右扑翼驱动电机的位置信号并相应经过左扑翼编码器信号转换器和右扑翼编码器信号转换器的转换放大处理后反馈至所述主控模块，使得所述主控模块根据反馈的位置信号对左扑翼驱动电机和右扑翼驱动电机进行闭环运动控制，以达到角度θv的位置；从而在双侧扑翼受力均匀的作用下，所述水下机器人减速至所设定的速度vt，并将减速完成信号反馈至上位机。If the set speed v t < real-time speed v i , it is determined that deceleration is required, and the main control module calculates the angle θ v of the bilateral flapping wings of the underwater robot, and simultaneously controls the left flapping wing to drive The module and the right flapping wing drive module respectively expand the flapping wings on both sides to the position of the angle θ v at a constant speed; at the same time, the built-in encoder of the left flapping wing and the built-in encoder of the right flapping wing respectively collect the left flapping wing drive motor and the right flapping wing. The position signal of the driving motor is fed back to the main control module after the conversion and amplification processing of the left flapping wing encoder signal converter and the right flapping wing encoder signal converter correspondingly, so that the main control module can adjust the position signal according to the feedback. The left flapping wing drive motor and the right flapping wing drive motor perform closed-loop motion control to reach the position of the angle θ v ; thus, under the uniform force of the two flapping wings, the underwater robot decelerates to the set speed v t , and feedback the deceleration completion signal to the host computer.

收到所述偏航控制命令时，执行转弯模式实时控制为：When the yaw control command is received, the real-time control of executing the turning mode is as follows:

若所设定的偏航角

Figure GDA0003735264240000026
＝当前偏航角
Figure GDA0003735264240000027
时，则判定为无需转向动作；If the set yaw angle
Figure GDA0003735264240000026
= current yaw angle
Figure GDA0003735264240000027
, it is determined that no steering action is required;

若所设定的偏航角

Figure GDA0003735264240000029
＞当前偏航角
Figure GDA0003735264240000028
时，则判定为向右转；所述主控模块根据计算出水下机器人的右侧扑翼展开的角度
Figure GDA00037352642400000211
同时利用所述右扑翼驱动模块控制所述右侧扑翼驱动器驱动所述右扑翼电机使扑翼展开至角度
Figure GDA00037352642400000212
的位置，而左侧扑翼则不运动并处于初始位置；同时，所述右扑翼编码器采集标定右侧扑翼驱动电机的位置信号并经过右扑翼编码器信号转换器转换放大后输出至所述主控模块，使得所述主控模块根据反馈的位置信号对右侧扑翼驱动电机进行闭环运动控制，以达到角度
Figure GDA00037352642400000213
的位置；从而在右侧扑翼受力大于左侧扑翼受力的作用下，所述水下机器人的航向向右偏转至
Figure GDA00037352642400000210
并将转弯完成信号反馈至所述上位机；If the set yaw angle
Figure GDA0003735264240000029
＞Current yaw angle
Figure GDA0003735264240000028
When , it is determined to turn to the right; the main control module calculates the angle at which the right flapping wing of the underwater robot unfolds
Figure GDA00037352642400000211
At the same time, the right flapping wing drive module is used to control the right flapping wing driver to drive the right flapping wing motor to expand the flapping wing to an angle
Figure GDA00037352642400000212
At the same time, the right flapping wing encoder collects and calibrates the position signal of the right flapping wing drive motor and outputs it after conversion and amplification by the right flapping wing encoder signal converter. to the main control module, so that the main control module performs closed-loop motion control on the right flapping wing drive motor according to the feedback position signal, so as to achieve the angle
Figure GDA00037352642400000213
Therefore, under the action of the force on the right flapping wing being greater than that on the left flapping wing, the course of the underwater robot is deflected to the right to
Figure GDA00037352642400000210
and feedback the turn completion signal to the upper computer;

若所设定的偏航角

Figure GDA0003735264240000035
＜当前偏航角度
Figure GDA0003735264240000036
时，则判定为向左转；所述主控模块计算出水下机器人的左侧扑翼展开的角度
Figure GDA00037352642400000312
同时利用所述左扑翼驱动模块控制所述左侧扑翼驱动器驱动所述左扑翼电机使扑翼展开至角度
Figure GDA00037352642400000313
的位置，而右侧扑翼则不运动并处于初始位置；同时，所述左扑翼编码器采集标定左侧扑翼驱动电机的位置信号并经过左扑翼编码器信号转换器转换放大后输出至所述主控模块，使得所述主控模块根据反馈的位置信号对左侧扑翼驱动电机进行闭环运动控制，以达到角度
Figure GDA00037352642400000314
的位置；从而在左侧扑翼受力大于右侧扑翼受力的作用下，所述水下机器人的航向向左偏转至
Figure GDA0003735264240000037
并将转弯完成信号反馈至上位机。If the set yaw angle
Figure GDA0003735264240000035
<Current yaw angle
Figure GDA0003735264240000036
When , it is determined to turn to the left; the main control module calculates the angle at which the left flapping wing of the underwater robot unfolds
Figure GDA00037352642400000312
At the same time, the left flapping wing drive module is used to control the left flapping wing driver to drive the left flapping wing motor to expand the flapping wing to an angle
Figure GDA00037352642400000313
At the same time, the left flapping wing encoder collects and calibrates the position signal of the left flapping wing drive motor and outputs it after conversion and amplification by the left flapping wing encoder signal converter. to the main control module, so that the main control module performs closed-loop motion control on the left flapping wing drive motor according to the feedback position signal, so as to achieve the angle
Figure GDA00037352642400000314
position; thus under the action of the force on the left flapping wing is greater than that on the right flapping wing, the course of the underwater robot is deflected to the left to
Figure GDA0003735264240000037
And feedback the turn completion signal to the upper computer.

所述主控模块是利用式(1)计算出双侧扑翼展开的角度θv：Described main control module utilizes formula (1) to calculate the angle θ v of bilateral flapping wing deployment:

Figure GDA0003735264240000031
Figure GDA0003735264240000031

式(1)中：Δv为根据速度控制参数(vt,vi)在比例-积分控制器下计算出实时速度vi与设定的速度vt的比例系数；vmax、vmin分别为水下机器人的最大和最小运行速度；θmax为扑翼展开的最大角度。In formula (1): Δv is the proportional coefficient between the real-time speed v i and the set speed v t calculated under the proportional-integral controller according to the speed control parameters (v t , v i ); v max and v min are respectively The maximum and minimum running speed of the underwater robot; θ max is the maximum angle of flapping wings.

所述主控模块是利用式(2)计算出双侧扑翼展开的角度

Figure GDA00037352642400000315
The main control module uses the formula (2) to calculate the angle of the bilateral flapping wings.
Figure GDA00037352642400000315

Figure GDA0003735264240000032
Figure GDA0003735264240000032

式(2)中，

Figure GDA0003735264240000033
为根据偏航控制参数
Figure GDA0003735264240000034
在比例-积分控制器下计算出当前偏航角
Figure GDA0003735264240000038
与设定的偏航角
Figure GDA00037352642400000311
的比例系数；
Figure GDA00037352642400000310
分别为水下机器人的最大和最小偏航角度；θmax为扑翼展开的最大角度。In formula (2),
Figure GDA0003735264240000033
for the yaw control parameters according to
Figure GDA0003735264240000034
Calculate the current yaw angle under the proportional-integral controller
Figure GDA0003735264240000038
with the set yaw angle
Figure GDA00037352642400000311
scale factor;
Figure GDA00037352642400000310
are the maximum and minimum yaw angles of the underwater robot, respectively; θ max is the maximum angle of the flapping wings.

与现有技术相比，本发明的有益效果在于：Compared with the prior art, the beneficial effects of the present invention are:

1、本发明是以帝企鹅的扑翼特征为研究机理，为水下机器人增加扑翼式仿生转向控制装置，改进了传统舵机螺旋桨式和矢量推进方式上的能效低、精度低、结构复杂、控制难度大等缺点。1. The present invention takes the flapping wing feature of the emperor penguin as the research mechanism, adds flapping-wing bionic steering control device for the underwater robot, and improves the low energy efficiency, low precision and complex structure of the traditional steering gear propeller type and vector propulsion method. , control difficulty and other shortcomings.

2、本发明采用左扑翼驱动模块、右扑翼驱动模块分别驱动左扑翼和右扑翼。主控模块独立控制两侧扑翼运动，利用两侧扑翼的张开和收缩，既能实现水下机器人的减速运动，又可通过两侧张开角度不同实现水下机器人的左转弯运动和右转弯运动，使水下机器人运能性能更加灵活。2. The present invention adopts the left flapping wing driving module and the right flapping wing driving module to drive the left flapping wing and the right flapping wing respectively. The main control module independently controls the flapping motion on both sides, and utilizes the opening and contraction of the flapping wings on both sides, which can not only realize the deceleration motion of the underwater robot, but also realize the left turning motion and The right turning motion makes the underwater robot more flexible in its performance.

3、本发明主控模块CPU内建立PID控制器，减速模式的速度控制比例系数和转弯模式下偏航控制比例系数均可通过PID控制器获得，算法较为简单实用。主控模块的编程简单，易于实现，可推广至水下机器人应用领域。3. A PID controller is established in the CPU of the main control module of the present invention. The proportional coefficient of speed control in the deceleration mode and the proportional coefficient of yaw control in the turning mode can be obtained by the PID controller, and the algorithm is relatively simple and practical. The programming of the main control module is simple and easy to implement, and can be extended to the application field of underwater robots.

附图说明Description of drawings

图1为本发明扑翼式仿生转向控制装置的结构框图；Fig. 1 is the structural block diagram of flapping wing type bionic steering control device of the present invention;

图2为本发明扑翼式仿生转向控制装置的原理方框图；Fig. 2 is the principle block diagram of flapping wing type bionic steering control device of the present invention;

图3为本发明扑翼式仿生转向总体机构示意图；3 is a schematic diagram of the overall mechanism of flapping wing bionic steering according to the present invention;

图中标号：1.右扑翼电机；2.安装机架；3.左扑翼电机；4.左扑翼；5.右扑翼；Labels in the figure: 1. Right flapping wing motor; 2. Mounting frame; 3. Left flapping wing motor; 4. Left flapping wing; 5. Right flapping wing;

具体实施方式Detailed ways

下面结合具体实施方式对本专利的技术方案作进一步详细说明。The technical solution of the present patent will be further described in detail below in conjunction with specific embodiments.

请参阅图1-图3，一种扑翼式仿生转向控制装置，包括主控模块、通信模块、左扑翼驱动模块、右扑翼驱动模块和电源模块；其中，左扑翼驱动模块包含：左扑翼电机驱动器、左扑翼电机3、左扑翼编码器信号转换器、左扑翼编码器；右扑翼驱动模块包含：右扑翼电机驱动器、右扑翼电机1、右扑翼编码器信号转换器、右扑翼编码器；通信模块包括：RS485RTU通讯模块；Please refer to Figure 1 to Figure 3, a flapping wing bionic steering control device, including a main control module, a communication module, a left flapping wing drive module, a right flapping wing drive module and a power supply module; wherein, the left flapping wing drive module includes: Left flapper motor driver, left flapper motor 3, left flapper encoder signal converter, left flapper encoder; right flapper drive module includes: right flapper motor driver, right flapper motor 1, right flapper encoder signal converter, right flapping wing encoder; communication module includes: RS485RTU communication module;

如图2所示，主控模块的输出端分别连接左扑翼驱动模块的左扑翼电机驱动器、右扑翼驱动模块的右扑翼电机驱动器、通信模块的输入端；As shown in Figure 2, the output end of the main control module is respectively connected to the left flapper motor driver of the left flapper drive module, the right flapper motor driver of the right flapper drive module, and the input end of the communication module;

主控模块的输入端分别连接左扑翼驱动模块的左扑翼编码器信号转换器、右扑翼驱动模块的右扑翼编码器信号转换器、通信模块的输出端、电源模块的输出端；The input end of the main control module is respectively connected to the left flapping wing encoder signal converter of the left flapping wing drive module, the right flapping wing encoder signal converter of the right flapping wing drive module, the output end of the communication module, and the output end of the power supply module;

其中，电源模块包含电源管理模块、电池、外部供电接口，电源管理模块内置供电切换电路和电源管理IC系统，管理电池和外部供电工作状态。当检测到外部供电接口有电压时，优先选择外部电源为系统供电。当检测到电池电压过低时且外部供电接口有电压时候，电源管理模块通过外部供电接口为电池充电。电源管理模块内置有控制芯片，能够检测外部供电接口和电池的电压数值。Among them, the power module includes a power management module, a battery, and an external power supply interface. The power management module has a built-in power supply switching circuit and a power management IC system to manage the working state of the battery and external power supply. When it is detected that the external power supply interface has voltage, the external power supply is preferentially selected to supply power to the system. When it is detected that the battery voltage is too low and the external power supply interface has voltage, the power management module charges the battery through the external power supply interface. The power management module has a built-in control chip, which can detect the voltage value of the external power supply interface and the battery.

电源模块的输出端还分别连接左扑翼驱动模块的输入端、右扑翼驱动模块的输入端、通信模块的输入端；通信模块的输入端还连接上位机；The output end of the power supply module is also connected to the input end of the left flapping wing drive module, the input end of the right flapping wing drive module, and the input end of the communication module; the input end of the communication module is also connected to the upper computer;

主控模块通过RS485RTU通讯模块实时接收上位机发送的偏航控制命令和偏航参数

Figure GDA0003735264240000041
以及减速控制命令和速度参数(vt,vi)，并分别用于转弯模式下和减速模式下的实时控制；其中，
Figure GDA0003735264240000042
表示水下机器人所设定的偏航角和
Figure GDA0003735264240000043
表示水下机器人实时反馈的当前偏航角，且偏航角
Figure GDA0003735264240000053
为水下机器人前进方向与地面垂直投影在世界坐标系下的偏离角度；
Figure GDA0003735264240000055
为负代表向左转弯，
Figure GDA0003735264240000054
为正代表向右转弯；vt表示水下机器人所设定的速度和vi表示水下机器人的实时速度；The main control module receives the yaw control commands and yaw parameters sent by the host computer in real time through the RS485RTU communication module
Figure GDA0003735264240000041
and deceleration control commands and speed parameters (v t , v i ), which are used for real-time control in turning mode and deceleration mode, respectively; where,
Figure GDA0003735264240000042
represents the yaw angle set by the underwater robot and
Figure GDA0003735264240000043
Indicates the current yaw angle of the real-time feedback of the underwater robot, and the yaw angle
Figure GDA0003735264240000053
is the deviation angle between the forward direction of the underwater robot and the vertical projection of the ground in the world coordinate system;
Figure GDA0003735264240000055
Negative means turn left,
Figure GDA0003735264240000054
is positive represents turning right; v t represents the speed set by the underwater robot and v i represents the real-time speed of the underwater robot;

具体实施中，减速模式时扑翼展开角度θv的计算方法为：In the specific implementation, the calculation method of the flapping angle θ v in the deceleration mode is:

减速模式下，扑翼的展开角度与减速幅度(设定值与实际值差值)有比例关系，即减速幅度越大则扑翼展开角度越大，而减速幅度越小则扑翼展开角度越小。由于控制模型复杂且无法建立精确数学模型，优先采用PID算法对减速幅度比例关系进行求解。In the deceleration mode, the deployment angle of the flapping wing has a proportional relationship with the deceleration range (the difference between the set value and the actual value). Small. Because the control model is complex and an accurate mathematical model cannot be established, the PID algorithm is preferred to solve the proportional relationship of the deceleration amplitude.

在主控制器内建立减速模式PID控制器1，依据设定速度值和反馈值速度值进行求解，如式(1)所示：The deceleration mode PID controller 1 is established in the main controller, and the solution is based on the set speed value and the feedback value speed value, as shown in formula (1):

Figure GDA0003735264240000051
Figure GDA0003735264240000051

式(1)中，Δv为根据速度控制参数(vt,vi)在比例-积分控制器下计算出实时速度vi与设定的速度vt的比例系数；kP为比例常数；kI为积分常数；kD为微分常数；e(k)为设定速度值与反馈速度值之差。In formula (1), Δv is the proportional coefficient between the real-time speed v i and the set speed v t calculated under the proportional-integral controller according to the speed control parameters (v t , v i ); k P is the proportional constant; k I is the integral constant; k D is the differential constant; e(k) is the difference between the set speed value and the feedback speed value.

进一步求解双侧扑翼展开的角度θv：Further solve the angle θ v of the two-sided flapping wings:

Figure GDA0003735264240000052
Figure GDA0003735264240000052

式(2)中：Δv为根据速度控制参数(vt,vi)在比例-积分控制器下计算出实时速度vi与设定的速度vt的比例系数；vmax、vmin分别为水下机器人的最大和最小运行速度；θmax为扑翼展开的最大角度。In formula (2): Δv is the proportional coefficient between the real-time speed v i and the set speed v t calculated under the proportional-integral controller according to the speed control parameters (v t , v i ); v max and v min are respectively The maximum and minimum running speed of the underwater robot; θ max is the maximum angle of flapping wings.

转弯模式时扑翼展开角度

Figure GDA0003735264240000056
的计算方法：Flapping wing deployment angle in turn mode
Figure GDA0003735264240000056
Calculation method:

转弯模式下，使用单侧扑翼展开方式来对水下机器人进行转弯控制。单侧扑翼的展开角度与偏航幅度(设定值与实际值差值)有比例关系，即偏航幅度越大则扑翼展开角度越大，而偏航幅度越小则扑翼展开角度越小。由于控制模型复杂且无法建立精确数学模型，优先采用PID算法对偏航幅度比例关系进行求解。In the turning mode, the single-sided flapping wing is used to control the turning of the underwater robot. The deployment angle of the unilateral flapping wing has a proportional relationship with the yaw amplitude (the difference between the set value and the actual value), that is, the larger the yaw amplitude, the larger the flapping wing deployment angle, and the smaller the yaw amplitude, the larger the flapping wing deployment angle. smaller. Because the control model is complex and an accurate mathematical model cannot be established, the PID algorithm is preferred to solve the proportional relationship of the yaw amplitude.

在主控制器内建立转弯模式PID控制器2，依据设定偏航角度和反馈偏航角度值进行求解，公式如下：The turning mode PID controller 2 is established in the main controller, and the solution is solved according to the set yaw angle and the feedback yaw angle. The formula is as follows:

Figure GDA0003735264240000061
Figure GDA0003735264240000061

式(3)中：

Figure GDA0003735264240000063
为根据偏航控制参数
Figure GDA00037352642400000611
在比例-积分控制器下计算出当前偏航角
Figure GDA00037352642400000610
与设定的偏航角
Figure GDA0003735264240000064
的比例系数；KP为比例常数；KI为积分常数；KD为微分常数；E(k)为设定偏航角与反馈偏航角值之差。In formula (3):
Figure GDA0003735264240000063
for the yaw control parameters according to
Figure GDA00037352642400000611
Calculate the current yaw angle under the proportional-integral controller
Figure GDA00037352642400000610
with the set yaw angle
Figure GDA0003735264240000064
K P is the proportional constant; K I is the integral constant; K D is the differential constant; E(k) is the difference between the set yaw angle and the feedback yaw angle.

进一步求解单侧扑翼展开的角度

Figure GDA00037352642400000613
Further solve the angle of unilateral flapping wing deployment
Figure GDA00037352642400000613

Figure GDA0003735264240000062
Figure GDA0003735264240000062

式(4)中，

Figure GDA0003735264240000065
为根据偏航控制参数
Figure GDA0003735264240000069
在比例-积分控制器下计算出当前偏航角
Figure GDA0003735264240000068
与设定的偏航角
Figure GDA0003735264240000066
的比例系数；
Figure GDA0003735264240000067
分别为水下机器人的最大和最小偏航角度；θmax为扑翼展开的最大角度。In formula (4),
Figure GDA0003735264240000065
for the yaw control parameters according to
Figure GDA0003735264240000069
Calculate the current yaw angle under the proportional-integral controller
Figure GDA0003735264240000068
with the set yaw angle
Figure GDA0003735264240000066
scale factor;
Figure GDA0003735264240000067
are the maximum and minimum yaw angles of the underwater robot, respectively; θ max is the maximum angle of the flapping wings.

本实施例中，一种扑翼仿生转向装置的控制方法，具体步骤如下：In this embodiment, a control method of a flapping wing bionic steering device, the specific steps are as follows:

步骤1、主控模块通过RS485RTU通讯模块实时接收上位机发送的偏航控制命令和偏航参数

Figure GDA00037352642400000612
以及减速控制命令和速度参数(vt,vi)，并分别用于转弯模式下和减速模式下的实时控制；Step 1. The main control module receives the yaw control commands and yaw parameters sent by the host computer in real time through the RS485RTU communication module
Figure GDA00037352642400000612
And deceleration control commands and speed parameters (v t , v i ), which are used for real-time control in turning mode and deceleration mode, respectively;

步骤2、主控模块的模式判断处理程序依据上位机的控制命令进行控制模式判断并决策：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 host computer:

步骤2.1当收到减速控制命令时候执行减速模式，具体操作如下：Step 2.1 When the deceleration control command is received, the deceleration mode is executed. The specific operations are as follows:

若设定的速度vt≥实时速度vi时，则判断为无需减速，如图3所示，左扑翼电机3和右扑翼电机1处于原始位置且无动作，左扑翼4和右扑翼5为贴近主体位置，此时水下机器人的扑翼产生的阻力最小；If the set speed v t ≥ the real-time speed v i , it is judged that no deceleration is required. As shown in Figure 3, the left flapping motor 3 and the right flapping motor 1 are in their original positions and have no action, and the left flapping motor 4 and the right flapping motor 1 are in their original positions. The flapping wings 5 are positioned close to the main body, and at this time, the flapping wings of the underwater robot generate the least resistance;

若设定的速度vt＜实时速度vi时，则判断为需要减速，主控模块计算水下机器人的双侧扑翼展开的角度θv，同时控制左扑翼驱动模块和右扑翼驱动模块分别驱动左扑翼电机3和右扑翼电机1将左、右侧扑翼匀速展开至角度θv的位置；同时，左扑翼内置编码器与右扑翼内置编码器分别采集左扑翼驱动电机和右扑翼驱动电机的位置信号并相应经过左扑翼编码器信号转换器和右扑翼编码器信号转换器的转换放大处理后反馈至主控模块，使得主控模块根据反馈的位置信号对左扑翼驱动电机3和右扑翼驱动电机1进行闭环运动控制，以达到角度θv的位置；从而在双侧扑翼受力均匀的作用下，水下机器人减速至所设定的速度vt，并将减速完成信号反馈至上位机。If the set speed v t < real-time speed v i , it is determined that deceleration is required, and the main control module calculates the angle θ v of the bilateral flapping wings of the underwater robot, and simultaneously controls the left flapping wing drive module and the right flapping wing drive. The module drives the left flapping wing motor 3 and the right flapping wing motor 1 respectively to expand the left and right flapping wings to the position of the angle θ v at a constant speed; at the same time, the built-in encoder of the left flapping wing and the built-in encoder of the right flapping wing respectively collect the left flapping wing The position signals of the drive motor and the right flapping wing drive motor are fed back to the main control module after corresponding conversion and amplification processing by the left flapping wing encoder signal converter and the right flapping wing encoder signal converter, so that the main control module is based on the feedback position. The signal performs closed-loop motion control on the left flapping wing drive motor 3 and the right flapping wing drive motor 1 to achieve the position of the angle θ v ; thus, under the uniform force of the two sides of the flapping wings, the underwater robot decelerates to the set speed v t , and feedback the deceleration completion signal to the upper computer.

步骤2.2当收到偏航控制命令时候执行转弯模式，具体操作如下：Step 2.2 When the yaw control command is received, the turn mode is executed. The specific operations are as follows:

若所设定的偏航角

Figure GDA0003735264240000071
＝当前偏航角
Figure GDA00037352642400000712
时，则判定为无需转向动作；If the set yaw angle
Figure GDA0003735264240000071
= current yaw angle
Figure GDA00037352642400000712
, it is determined that no steering action is required;

若所设定的偏航角

Figure GDA0003735264240000072
＞当前偏航角
Figure GDA00037352642400000713
时，则判定为向右转；主控模块根据计算出水下机器人的右侧扑翼展开的角度
Figure GDA00037352642400000710
同时利用右扑翼驱动模块控制右侧扑翼驱动器驱动右扑翼电机1使扑翼展开至角度
Figure GDA00037352642400000711
的位置，而左侧扑翼则不运动并处于初始位置；同时，右扑翼编码器采集标定右侧扑翼驱动电机1的位置信号并经过右扑翼编码器信号转换器转换放大后输出至主控模块，使得主控模块根据反馈的位置信号对右侧扑翼驱动电机1进行闭环运动控制，以达到角度
Figure GDA0003735264240000079
的位置；从而在右侧扑翼受力大于左侧扑翼受力的作用下，水下机器人的航向向右偏转至
Figure GDA0003735264240000073
并将转弯完成信号反馈至上位机；If the set yaw angle
Figure GDA0003735264240000072
＞Current yaw angle
Figure GDA00037352642400000713
is determined to turn to the right; the main control module calculates the angle at which the right flapping wing of the underwater robot unfolds
Figure GDA00037352642400000710
At the same time, use the right flapper drive module to control the right flapper driver to drive the right flapper motor 1 to expand the flapper to an angle
Figure GDA00037352642400000711
At the same time, the right flapping wing encoder collects and calibrates the position signal of the right flapping wing drive motor 1 and outputs it to the signal converter of the right flapping wing encoder after conversion and amplification. The main control module enables the main control module to perform closed-loop motion control on the right flapping wing drive motor 1 according to the feedback position signal, so as to achieve the angle
Figure GDA0003735264240000079
Therefore, under the action of the force on the right flapping wing is greater than that on the left flapping wing, the course of the underwater robot is deflected to the right
Figure GDA0003735264240000073
And feedback the turn completion signal to the host computer;

若所设定的偏航角

Figure GDA0003735264240000074
＜当前偏航角度
Figure GDA00037352642400000714
时，则判定为向左转；主控模块计算出水下机器人的左侧扑翼展开的角度
Figure GDA0003735264240000075
同时利用左扑翼驱动模块控制左侧扑翼驱动器驱动左扑翼电机3使扑翼展开至角度
Figure GDA0003735264240000076
的位置，而右侧扑翼则不运动并处于初始位置；同时，左扑翼编码器采集标定左侧扑翼驱动电机3的位置信号并经过左扑翼编码器信号转换器转换放大后输出至主控模块，使得主控模块根据反馈的位置信号对左侧扑翼驱动电机3进行闭环运动控制，以达到角度
Figure GDA0003735264240000077
的位置；从而在左侧扑翼受力大于右侧扑翼受力的作用下，水下机器人的航向向左偏转至
Figure GDA0003735264240000078
并将转弯完成信号反馈至上位机。If the set yaw angle
Figure GDA0003735264240000074
<Current yaw angle
Figure GDA00037352642400000714
When , it is determined to turn left; the main control module calculates the angle at which the left flapping wing of the underwater robot unfolds
Figure GDA0003735264240000075
At the same time, use the left flapping wing drive module to control the left flapping wing driver to drive the left flapping wing motor 3 to expand the flapping wing to an angle
Figure GDA0003735264240000076
At the same time, the left flapping wing encoder collects and calibrates the position signal of the left flapping wing drive motor 3 and outputs it to The main control module enables the main control module to perform closed-loop motion control on the left flapping wing drive motor 3 according to the feedback position signal, so as to achieve the angle
Figure GDA0003735264240000077
position; thus under the action of the force on the left flapping wing is greater than that on the right flapping wing, the course of the underwater robot is deflected to the left to
Figure GDA0003735264240000078
And feedback the turn completion signal to the upper computer.

Claims (3)

1. A flapping wing type bionic steering control device is characterized by being used for controlling an underwater robot and comprising: the flapping wing power supply comprises a main control module, a communication module, a left flapping wing driving module, a right flapping wing driving module and a power supply module;
wherein the left flapping wing driving 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 driving 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 input 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 FDA0003735264230000011
And deceleration control command and speed parameter (v) t ,v i ) And are respectively used for real-time control in a turning mode and a deceleration mode; wherein,
Figure FDA0003735264230000013
indicating yaw angle and yaw angle set by the underwater robot
Figure FDA0003735264230000012
Representing a current yaw angle fed back by the underwater robot in real time, and the yaw angle
Figure FDA0003735264230000014
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 FDA0003735264230000015
a negative sign indicates a turn to the left,
Figure FDA0003735264230000016
turn right for positive representation; v. of t Representing the set velocity and v of the underwater robot i Representing a real-time speed of the underwater robot;
when the deceleration control command is received, executing the real-time control of the deceleration mode as follows:
if the set speed v t Not less than real-time speed v i When 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 v t < real-time speed v i And if the speed needs to be reduced, the main control module calculates the unfolding angle theta of the flapping wings at the two sides by using the formula (1) v Simultaneously 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 speed v The 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 theta v The 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 v t Feeding back a deceleration completion signal to the upper computer;
Figure FDA0003735264230000021
in formula (1): Δ v is a control parameter (v) according to speed t ,v i ) Calculating real-time velocity v under proportional-integral controller i With a set speed v t The proportionality coefficient of (a); v. of max 、v min The maximum and minimum running speeds of the underwater robot are respectively; theta max The maximum angle at which the flapping wings are deployed.
2. 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 the set yaw angle
Figure FDA0003735264230000022
If yes, judging that the steering action is not needed;
if the set yaw angle is set
Figure FDA0003735264230000023
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 FDA0003735264230000024
Meanwhile, the right flapping wing driving module is utilized to control the right flapping wing driver to drive the right flapping wing motor so that the flapping wings are unfolded to an angle
Figure FDA0003735264230000025
The left flapping wing does not move and is in the initial position; meanwhile, the right flapping wing encoder collects and calibrates the right flapping wingThe position signal of the wing driving motor is 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 signal to achieve the angle
Figure FDA0003735264230000026
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 FDA0003735264230000027
Feeding back a turning completion signal to the upper computer;
if the set yaw angle is set
Figure FDA0003735264230000028
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 FDA0003735264230000029
Meanwhile, the left flapping wing driving module is utilized to control the left flapping wing driver to drive the left flapping wing motor so that the flapping wings are unfolded to an angle
Figure FDA00037352642300000210
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 FDA00037352642300000211
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 FDA00037352642300000212
And feeding back a turning completion signal to the upper computer.
3. The flapping type bionic steering control device of claim 2, wherein the main control module calculates the unfolding angle of the double-sided flapping wing by using the formula (2)
Figure FDA0003735264230000032
Figure FDA0003735264230000031
In the formula (2), the reaction mixture is,
Figure FDA0003735264230000033
to control parameters according to yaw
Figure FDA0003735264230000034
Calculating the current yaw angle under a proportional-integral controller
Figure FDA0003735264230000037
With a set yaw angle
Figure FDA0003735264230000035
The proportionality coefficient of (a);
Figure FDA0003735264230000036
the maximum yaw angle and the minimum yaw angle of the underwater robot are respectively; theta max The maximum angle at which the flapping wings are deployed.
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