基于CPG神经网络的扑翼型UUV运动控制方法

沈 超; 刘明雍; 梁庆卫

doi:10.11993/j.issn.1673-1948.2011.06.008

基于CPG神经网络的扑翼型UUV运动控制方法

doi: 10.11993/j.issn.1673-1948.2011.06.008

西北工业大学航海学院, 陕西西安, 710072

基金项目: 国家自然科学基金(50979093), 新世纪优秀人才计划资助(NCET-06-0877), 西北工业大学基础研究基金(JC200927)

详细信息

作者简介:
沈超(1986-), 男, 在读硕士, 主要研究方向为水下导航与控制.

中图分类号: TJ630.33; TJ765.1
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- 文章访问数: 1836
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- 被引次数: 0
出版历程
- 收稿日期: 2011-07-11
- 修回日期: 2011-08-22
- 刊出日期: 2011-12-30

A CPG-based Method for Motion Control of Flapping-wing UUV

College of Marine Engineering, Northwestern Polytechnical University, Xi′an 710072, China

摘要

摘要: 中枢模式发生器(CPG)是一种普遍存在于脊椎动物中, 用来自激产生节律运动的低级神经中枢。传统的基于模型的机器人控制方法存在建模复杂、解不唯一、单周期规划等问题, 特别是在需要多自由度协调控制的任务中, 缺乏足够的实时性。由于 CPG 在协调多自由度运动方面的优越性, 本文研究了扑翼对UUV运动的影响, 并基于CPG模型给出一种运动控制方法。利用反馈信息产生节律信号控制UUV左右扑翼的运动模式; 调整CPG模型参数、反馈输入与CPG输出之间的关系, 设计了UUV直游和转弯的反馈控制律。仿真结果验证了该控制方法的有效性。
- 无人水下航行器 /
- 中枢模式发生器 /
- 扑翼航行器 /
- 反馈控制
Abstract: Traditional methods for robot motion control need complex dynamic and kinematic models, and are lack of real-time especially for the control tasks with multiple degrees of freedom (multi-dof). Central pattern generator (CPG) is good at dealing with multi-dof control tasks. This paper analyzes the flapping-wing’s influence on UUV’s motion, and proposes a CPG-based method for motion control of a flapping-wing UUV. The motion mode of the wings is controlled by using feedback signals, and two control laws for UUV′s straight and turning motions are designed by adjusting the relations among CPG parameters, feedback control input, and CPG output. Simulation result indicates that the CPG-based method is feasible and effective.
- unmanned underwater vehicle(UUV) /
- central pattern generator (CPG) /
- flapping-wing vehicle /
- feedback control

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参考文献(15)

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