IPMC驱动柔性机器鱼速度控制系统

常龙飞; 李超群; 牛清正; 杨 倩; 胡小品; 何青松; 吴玉程

doi:10.11993/j.issn.2096-3920.2019.02.006

IPMC驱动柔性机器鱼速度控制系统

doi: 10.11993/j.issn.2096-3920.2019.02.006

1.
合肥工业大学工业与装备技术研究院, 安徽合肥, 230009
2.
南京航空航天大学江苏省仿生功能材料重点实验室, 江苏南京, 210016
3.
合肥工业大学材料学院, 安徽合肥, 230009
4.
合肥工业大学先进功能材料与器件安徽省重点实验室, 安徽合肥, 230009

基金项目: 国家自然科学基金(51605131); 安徽省自然科学基金青年项目(1608085QE100)

详细信息

作者简介:
常龙飞(1988-), 女, 博士, 讲师, 主要研究方向为智能材料与结构.

中图分类号: TP242; TB381
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- 被引次数: 0
出版历程
- 收稿日期: 2016-11-19
- 修回日期: 2016-12-18
- 刊出日期: 2019-04-30

Speed Control System of Soft Robotic Fish Actuated by IPMC

1.
Institute of Industry and Equipment Technology, Hefei University of Technology, Hefei 230009, China
2.
Key Laboratory of Bionic Functional Materials in Jiangsu Province, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
3.
School of Materials Science and Engineering, Hefei University of Technology, Hefei 230009, China
4.
Key Laboratory of Advanced Functional Materials and Devices of Anhui Province, Hefei University of Technology, Hefei 230009, China

摘要

摘要: 离子聚合物金属复合材料(IPMC)作为一种典型的柔性智能材料, 具有质量轻、变形大, 可在水下运行等独特优点, 在制作柔性机器鱼领域展现了突出优势。实现IPMC驱动机器鱼的独立运行和速度可控对于推动其实际应用具有重要意义。由于IPMC性能限制, 使得机器鱼负载能力有限, 对传感器和控制单元的质量和体积均有较高要求; 同时由于游动速度信号的采集和处理较为困难等原因, 现有IPMC驱动机器鱼大多是以开环方式来控制, 少数关于游动速度的反馈控制也是以理论研究为主或者借助外接仪器和传感器来测量参数, 均未能实现独立运动下IPMC驱动机器鱼的速度反馈控制。因此, 文中在制造无外接电源、独立运动机器鱼的前提下实现对游动速度的闭环控制, 通过在机器鱼内部安装惯性测量单元来测量游动速度, 并对其设计了比例-积分-微分(PID)控制器反馈速度控制系统, 利用MATLAB对控制系统进行仿真, 使用单片机、陀螺仪等制作印制电路板(PCB), 利用性能优良的IPMC材料制备具有可观负载能力的机器鱼样机, 并进行了预设速度分别为3 mm/s和6 mm/s时的实验。实验结果表明, 机器鱼的独立运行和速度得到了精确控制, 最终使得机器鱼约在1.8 s时达到预设速度且稳态误差保持在 mm/s以内, 速度控制误差不超过8%。文中所做研究可为机器鱼游动闭环控制研究提供参考。
- 柔性机器鱼 /
- 离子聚合物金属复合材料 /
- 闭环控制 /
- 速度反馈
Abstract: Independent operation and closed-loop speed control are very important for practical application of ionic polymer-metal composite (IPMC)-actuated robotic fish. However, due to the low force output of IPMC, the load capacity of the robotic fish is limited, which poses demanding requirements for weight and volume of the sensors and control units. In addition, the speed signal acquisition and processing are relatively difficult, therefore the existing IPMC-actuated robotic fish usually adopts open-loop control, while the speed feedback control of the IPMC-based independent robotic fish has not yet been realized. This study fabricated an independent IPMC robotic fish without external power supply, and implemented its closed-loop speed control. An inertial measurement unit (IMU) device was used to measure the speed, and a proportional-integral-differential (PID) controller feedback speed control system was designed. The control system was simulated by MATLAB, and the printed circuit board (PCB) was fabricated by using such electronic devices as single-chip microcomputer and gyroscope. Some IPMC materials with good performance were used to make the prototype of the robotic fish with considerable load capacity. Experiment was carried out with preset speed of 3 mm/s and 6 mm/s, respectively, the results showed that the robotic fish could perform independently with precise speed control, and it reached the preset speed within 1.8 s. The steady-state error remained within mm/s, and the speed control error did not exceed 8%. This research may offer a reference for the study of closed-loop control of robotic fish swimming.
- soft robotic fish /
- ionic polymer-metal composite(IPMC) /
- closed-loop control /
- feedback of speed

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