Speed Control System of Soft Robotic Fish Actuated by IPMC

CHANG Long-fei; LI Chao-qun; NIU Qing-zheng; YANG Qian; HU Xiao-pin; HE Qing-song; WU Yu-cheng

doi:10.11993/j.issn.2096-3920.2019.02.006

Volume 27 Issue 2

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Article Navigation > Journal of Unmanned Undersea Systems > 2019 > 27(2): 157-165

CHANG Long-fei, LI Chao-qun, NIU Qing-zheng, YANG Qian, HU Xiao-pin, HE Qing-song, WU Yu-cheng. Speed Control System of Soft Robotic Fish Actuated by IPMC[J]. Journal of Unmanned Undersea Systems, 2019, 27(2): 157-165. doi: 10.11993/j.issn.2096-3920.2019.02.006

Citation:

CHANG Long-fei, LI Chao-qun, NIU Qing-zheng, YANG Qian, HU Xiao-pin, HE Qing-song, WU Yu-cheng. Speed Control System of Soft Robotic Fish Actuated by IPMC[J]. Journal of Unmanned Undersea Systems, 2019, 27(2): 157-165. doi: 10.11993/j.issn.2096-3920.2019.02.006

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Speed Control System of Soft Robotic Fish Actuated by IPMC

doi: 10.11993/j.issn.2096-3920.2019.02.006

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

Received Date: 2016-11-19
Rev Recd Date: 2016-12-18
Publish Date: 2019-04-30

Abstract

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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References(34)

References

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Speed Control System of Soft Robotic Fish Actuated by IPMC

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