仿海蟹機器人游泳槳水動力性能及浮游步態(tài)規(guī)劃方法研究
發(fā)布時間：2018-08-06 20:57
【摘要】：經(jīng)過長期自然選擇和進化,生物海蟹具備了陸上行走、海底爬行和水中浮游三種運動特性,廣泛生存于巖石、淺灘、強海流等區(qū)域。在低速運動狀態(tài)下海蟹具有運動靈活、隱蔽性強、能量利用率高等特點,將其運動機理應用于兩棲仿生機器人的水下推進中,對于探索新型水下驅(qū)動方式,提高載體的運動性能具有重要的研究意義和實用價值。槳形游泳足的多驅(qū)動特性,使海蟹可以在水下完成多種復雜運動。然而,目前從海蟹運動機理角度探討游泳足運動過程和生理特性的研究較少,其運動機理尚不清晰,并且游泳槳推進技術(shù)在水下機器人上的應用仍處于探索階段,因此有必要對游泳槳的水下推進機理進行深入研究。本文采用理論計算、數(shù)值模擬和實驗研究相結(jié)合的方法,圍繞仿海蟹機器人結(jié)構(gòu)設計、游泳槳推進機理分析、水下浮游步態(tài)規(guī)劃、水下浮游控制方法以及機器人巡游性能測試等方面展開研究。通過對生物海蟹形態(tài)結(jié)構(gòu)和運動特征的分析,提出一種足槳混合驅(qū)動仿海蟹機器人結(jié)構(gòu)方案,其包含:串并聯(lián)混合結(jié)構(gòu)步行足、游泳槳、浮力調(diào)節(jié)裝置、減阻外殼、控制艙體以及軀體結(jié)構(gòu)等。機器人利用步行足和游泳槳雙重推進裝置,可實現(xiàn)陸上行走、海底爬行和水中浮游三種運動功能。在此基礎上,根據(jù)步行足各關(guān)節(jié)角度的約束,利用搜索法求解步行足的可達工作空間,并從運動學和動力學兩方面對仿海蟹機器人的運動性能進行仿真分析。研究仿海蟹機器人游泳槳的水動力性能。基于并行計算的CFD方法對游泳槳的三維流場進行數(shù)值模擬,分析基于升力和阻力模式下游泳槳特征點的運動軌跡、速度攻角與水動力特性間的關(guān)系。從軌跡特征、推力產(chǎn)生、渦的演變、尾渦結(jié)構(gòu)和壓力場分布等角度闡述不同運動模式水動力的產(chǎn)生機理,并探討水翼結(jié)構(gòu)參數(shù)、時間非對稱擺動、推進模式以及游泳槳運動參數(shù)對其水下推進性能的影響,從而獲得優(yōu)化的二、三自由度剛性游泳槳升力和阻力運動模式下的運動參數(shù)。針對仿海蟹機器人水中浮游運動,提出一種基于中樞模式發(fā)生器(CPG)的運動控制方法。采用改進非線性振蕩器作為節(jié)律信號發(fā)生器,通過相鄰弱耦合方法構(gòu)建仿海蟹機器人的CPG神經(jīng)網(wǎng)絡模型,并證明單個神經(jīng)振蕩器模型極限環(huán)存在的唯一性和穩(wěn)定性。在此基礎上,通過對雙游泳槳協(xié)同推進的水動力學性能進行分析,提出并規(guī)劃仿海蟹機器人前游、倒游、轉(zhuǎn)艏、浮潛等多種水下浮游步態(tài),建立各步態(tài)CPG網(wǎng)絡參數(shù)庫,從而實現(xiàn)仿海蟹機器人的三維游動控制。研究仿海蟹機器人浮游運動的目標點跟蹤問題。采用牛頓-歐拉法建立仿海蟹機器人水中浮游步態(tài)完整的非線性動力學模型,根據(jù)所建立的該數(shù)學模型對機器人水中浮游的運動性能進行仿真分析,探索仿海蟹機器人水下操縱機理。在此基礎上,設計一種基于指數(shù)趨近律的滑模變結(jié)構(gòu)控制器,將游泳槳上下拍翼運動和搖翼運動的相位差作為被控量,對機器人的轉(zhuǎn)艏角速率進行控制;通過李亞普諾夫直接法證明該系統(tǒng)可實現(xiàn)全局漸近穩(wěn)定,并進行仿真分析與實驗驗證。結(jié)果表明:滑模控制可以使機器人具有良好的目標點跟蹤能力,并對系統(tǒng)動力學參數(shù)不確定性及外界擾動具有較強魯棒性。為驗證游泳槳推進數(shù)值模擬的正確性,開展游泳槳推進實驗研究。依據(jù)游泳槳拍動過程中水動力交變和非定常特點,搭建三自由度游泳槳的水動力測試系統(tǒng),完成仿海蟹機器人游泳槳循環(huán)水槽推進實驗,針對特定運動狀態(tài)對實驗結(jié)果和CFD數(shù)值仿真結(jié)果進行對比分析,闡述仿真與實驗之間誤差產(chǎn)生的原因;并進一步探討水翼的截面形狀、翼面剛度、各自由度耦合運動參數(shù)對游泳槳推進力和推進效率的影響。開展仿海蟹機器人水池實驗研究。研制仿海蟹機器人實驗樣機,搭建水池實驗環(huán)境,在敞水中完成仿海蟹機器人浮游性能測試和運動控制實驗,測定樣機在實際環(huán)境下的直航、轉(zhuǎn)艏和浮潛性能,并驗證基于生物CPG激發(fā)而產(chǎn)生的多模態(tài)運動實際效果和目標點跟蹤控制算法的可行性。足槳混合驅(qū)動是一種新型的仿生推進技術(shù),它采用步行足和游泳槳復合推進方式,使機器人能夠根據(jù)淺灘地貌環(huán)境和作業(yè)任務需求自主選擇水下行走或水中浮游方式進行運動。該研究成果對于提高機器人淺灘環(huán)境適應性和實用性具有重要意義。
[Abstract]:After long-term natural selection and evolution, biological sea crabs have three kinds of motion characteristics, such as land walking, seabed crawling and water floating, widely living in rocks, shoals and strong currents. In low speed motion, sea crabs have the characteristics of flexible movement, strong concealment and high energy utilization, and apply their movement mechanism to amphibious bionic machines. In the underwater propulsion, it is of great significance and practical value to explore the new underwater driving mode and improve the motion performance of the carrier. The multi drive characteristic of the paddle shaped swimming foot makes the sea crab complete a variety of complex movements under water. However, the movement and physiological characteristics of the swimming foot are discussed from the point of view of the movement mechanism of the sea crab. Less research, its movement mechanism is not clear, and the application of propeller propulsion technology in underwater robot is still in the exploration stage. Therefore, it is necessary to study the mechanism of underwater propeller underwater propulsion. This paper uses theoretical calculation, numerical simulation and experimental research in conjunction method, around the structure design of the imitation crab robot. The mechanism analysis of the propeller, underwater floating gait planning, underwater floating control method and the performance test of robot cruising are studied. Through the analysis of the morphological structure and motion characteristics of the biological sea crab, a kind of robot structure scheme with foot propeller hybrid driving imitation sea crab is proposed, which includes a series parallel hybrid structure walking foot, a swimming paddle. A buoyancy adjustment device, a drag reduction shell, a control cabin and a body structure, etc. the robot uses a dual propulsion device for walking foot and swimming paddle, which can realize three kinds of moving functions on land, submarine crawling and underwater floating. On this basis, the reachable workspace of walking foot is solved by searching method according to the constraints of the joint angles of walking foot. The motion performance of the imitated sea crab robot is simulated and analyzed from two aspects of kinematics and dynamics. The hydrodynamic performance of the swimming paddle is studied. Based on the parallel computing CFD method, the three-dimensional flow field of the swimming paddle is simulated, and the motion trajectory of the downstream paddle based on the lift and resistance model is analyzed, and the velocity attack is analyzed. The relationship between angle and hydrodynamic characteristics. From the angles of trajectory characteristics, thrust generation, vortex evolution, tail vortex structure and pressure field distribution, the formation mechanism of hydrodynamic forces in different motion modes is expounded, and the influence of hydrofoil structure parameters, time unsymmetrical swing, propulsion mode and swimming propeller motion parameters on its underwater propulsion performance is obtained. The optimized two, three degree of freedom rigid paddle lift and the motion parameters under the resistance movement mode. A motion control method based on the central mode generator (CPG) is proposed for the underwater swimming of the crab like robot. The nonlinear oscillator is used as the rhythm signal generator and the imitation sea crab is constructed by the adjacent weak coupling method. The human CPG neural network model is used to prove the uniqueness and stability of the limit cycle of a single neural oscillator model. On this basis, the hydrodynamic performance of the dual swimming paddle is analyzed, and a variety of underwater floating gait is proposed and planned for the forward swimming, reverse, bow, and snorkeling of the robot, and each gait CPG network is set up. In order to realize the three dimensional movement control of the crab like robot, the target tracking problem of the floating movement of the imitation sea crab robot is studied. The complete nonlinear dynamic model of the floating gait in the water like crab robot is established by Newton Euler method, and the motion performance of the floating robot in the water is obtained according to the established mathematical model. On the basis of this, a sliding mode variable structure controller based on the exponential convergence law is designed, and the phase difference between the wing motion and the wing motion of the swimming paddle is taken as the controlled quantity to control the turning angle rate of the robot, and the system is proved by Lyapunov direct method. The global asymptotic stability can be realized, and the simulation analysis and experimental verification are carried out. The results show that the sliding mode control can make the robot have good target tracking ability, and have strong robustness to the uncertainty of dynamic parameters of the system and the external disturbance. Based on the alternating and unsteady characteristics of the hydrodynamic force during the paddling process of the swimming paddle, a hydrodynamic test system for the three degree of freedom swimming paddle is set up to complete the experiment of the swimming paddle circulatory tank propulsion experiment of the imitating crab robot. The error between the simulation and the experiment is described in contrast to the results of the experiment and the results of the CFD numerical simulation. The influence of the cross-section shape of the hydrofoil, the stiffness of the wing and the influence of the coupling motion parameters on the propeller force and the propulsion efficiency of the swimming paddle are further discussed. The experimental research on the swimming crab robot pool is carried out. The experimental prototype of the imitation crab robot is developed, the experimental environment of the pool is built, and the floating performance measurement of the imitation crab robot is completed in open water. Test and motion control experiment to determine the direct, bow and snorkeling performance of the prototype in the actual environment, and verify the feasibility of the actual effect of multimodal motion based on the biological CPG excitation and the tracking control algorithm of the target point. The foot paddle hybrid drive is a new bionic propulsion technology, which adopts the compound propulsion side of walking foot and swimming paddle. In order to improve the adaptability and practicability of the robot shoal environment, the robot can independently select the underwater walking or water floating mode according to the shoal geomorphology environment and the task demand.
【學位授予單位】：哈爾濱工程大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：TP242
，
本文編號：2168964
[Abstract]:After long-term natural selection and evolution, biological sea crabs have three kinds of motion characteristics, such as land walking, seabed crawling and water floating, widely living in rocks, shoals and strong currents. In low speed motion, sea crabs have the characteristics of flexible movement, strong concealment and high energy utilization, and apply their movement mechanism to amphibious bionic machines. In the underwater propulsion, it is of great significance and practical value to explore the new underwater driving mode and improve the motion performance of the carrier. The multi drive characteristic of the paddle shaped swimming foot makes the sea crab complete a variety of complex movements under water. However, the movement and physiological characteristics of the swimming foot are discussed from the point of view of the movement mechanism of the sea crab. Less research, its movement mechanism is not clear, and the application of propeller propulsion technology in underwater robot is still in the exploration stage. Therefore, it is necessary to study the mechanism of underwater propeller underwater propulsion. This paper uses theoretical calculation, numerical simulation and experimental research in conjunction method, around the structure design of the imitation crab robot. The mechanism analysis of the propeller, underwater floating gait planning, underwater floating control method and the performance test of robot cruising are studied. Through the analysis of the morphological structure and motion characteristics of the biological sea crab, a kind of robot structure scheme with foot propeller hybrid driving imitation sea crab is proposed, which includes a series parallel hybrid structure walking foot, a swimming paddle. A buoyancy adjustment device, a drag reduction shell, a control cabin and a body structure, etc. the robot uses a dual propulsion device for walking foot and swimming paddle, which can realize three kinds of moving functions on land, submarine crawling and underwater floating. On this basis, the reachable workspace of walking foot is solved by searching method according to the constraints of the joint angles of walking foot. The motion performance of the imitated sea crab robot is simulated and analyzed from two aspects of kinematics and dynamics. The hydrodynamic performance of the swimming paddle is studied. Based on the parallel computing CFD method, the three-dimensional flow field of the swimming paddle is simulated, and the motion trajectory of the downstream paddle based on the lift and resistance model is analyzed, and the velocity attack is analyzed. The relationship between angle and hydrodynamic characteristics. From the angles of trajectory characteristics, thrust generation, vortex evolution, tail vortex structure and pressure field distribution, the formation mechanism of hydrodynamic forces in different motion modes is expounded, and the influence of hydrofoil structure parameters, time unsymmetrical swing, propulsion mode and swimming propeller motion parameters on its underwater propulsion performance is obtained. The optimized two, three degree of freedom rigid paddle lift and the motion parameters under the resistance movement mode. A motion control method based on the central mode generator (CPG) is proposed for the underwater swimming of the crab like robot. The nonlinear oscillator is used as the rhythm signal generator and the imitation sea crab is constructed by the adjacent weak coupling method. The human CPG neural network model is used to prove the uniqueness and stability of the limit cycle of a single neural oscillator model. On this basis, the hydrodynamic performance of the dual swimming paddle is analyzed, and a variety of underwater floating gait is proposed and planned for the forward swimming, reverse, bow, and snorkeling of the robot, and each gait CPG network is set up. In order to realize the three dimensional movement control of the crab like robot, the target tracking problem of the floating movement of the imitation sea crab robot is studied. The complete nonlinear dynamic model of the floating gait in the water like crab robot is established by Newton Euler method, and the motion performance of the floating robot in the water is obtained according to the established mathematical model. On the basis of this, a sliding mode variable structure controller based on the exponential convergence law is designed, and the phase difference between the wing motion and the wing motion of the swimming paddle is taken as the controlled quantity to control the turning angle rate of the robot, and the system is proved by Lyapunov direct method. The global asymptotic stability can be realized, and the simulation analysis and experimental verification are carried out. The results show that the sliding mode control can make the robot have good target tracking ability, and have strong robustness to the uncertainty of dynamic parameters of the system and the external disturbance. Based on the alternating and unsteady characteristics of the hydrodynamic force during the paddling process of the swimming paddle, a hydrodynamic test system for the three degree of freedom swimming paddle is set up to complete the experiment of the swimming paddle circulatory tank propulsion experiment of the imitating crab robot. The error between the simulation and the experiment is described in contrast to the results of the experiment and the results of the CFD numerical simulation. The influence of the cross-section shape of the hydrofoil, the stiffness of the wing and the influence of the coupling motion parameters on the propeller force and the propulsion efficiency of the swimming paddle are further discussed. The experimental research on the swimming crab robot pool is carried out. The experimental prototype of the imitation crab robot is developed, the experimental environment of the pool is built, and the floating performance measurement of the imitation crab robot is completed in open water. Test and motion control experiment to determine the direct, bow and snorkeling performance of the prototype in the actual environment, and verify the feasibility of the actual effect of multimodal motion based on the biological CPG excitation and the tracking control algorithm of the target point. The foot paddle hybrid drive is a new bionic propulsion technology, which adopts the compound propulsion side of walking foot and swimming paddle. In order to improve the adaptability and practicability of the robot shoal environment, the robot can independently select the underwater walking or water floating mode according to the shoal geomorphology environment and the task demand.
【學位授予單位】：哈爾濱工程大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：TP242
，
本文編號：2168964
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