| Research and development of labriform bionic pectoral fin underwaterpropulsion technology aims to improve the maneuverability, propulsive efficiencyand fluid properties of underwater propulsor. Compared to the rigid bionic pectoralfin, labriform bionic pectoral fin has the characteristics of multiple fin rays. Then，this paper established a set of labrfirom bionic pectoral fin control system. Thiscontrol system can be used as an experiment platform to reveal the propulsivemechanism of the labriform pectoral fins. The main content of this paper are asfollows:First, the skeleton, muscle control and movement morphology of the labriformpectoral fins is analysized and some reasonal simplifications of the movement duringa swing cycle is described. Then, the labriform pectoral fin kinematic model isestablished on the basis of the simplifications and it is simulated by using Matlab.The effectiveness of the kinematic model is verified by comparing the simulationresult with the actual pectoral fin swing morphology.Next, the labriform bionic pcetroal fin mechanism compoment include: fin ray,fin base, fin diaphragm and fin ray transmission are analysized. According to thestructural characteristics of the bionic pectoral fin mechanism, the control scheme ofbionic pectoral fin control system is by using micro servo motor to drive bionic finray. Then a distributed control system based on CAN bus is set up, this controlsystem adopt eight CPU to control eight fin ray driving motors, and the hardware ofcontrol system and PCB design are introduced in detail.According to the requirements of the bionic labriform pectoral fin controlsystem, the control strategy of the bionic fin ray motor control submodule is angleand speed of motor dual closed-loop PID control and the programming flow involedin the control system is introduced. Then, the communication protocol of the uppercomputer and the bionic fin ray control submodules is developed on the basis of theCAN2.0B protocol. And the human-computer interface of the control system andCAN communication programing flow is introduced.Finally, the bionic pectoral fin control system is experimented. The maincontent of the experiment is recording the morphology of the bionic pectoral finduring its one cycle swing underwater, and then comparing the record result with thesimulation of the labriform pectoral fin kinematic model to verify the effectiveness of this control system. |
