兵工自动化
兵工自動化
병공자동화
ORDNANCE INDUSTRY AUTOMATION
2013年
12期
85-89
,共5页
宋玉龙%史豪斌%潘炜%赵净波
宋玉龍%史豪斌%潘煒%趙淨波
송옥룡%사호빈%반위%조정파
机器鱼%FPGA%PID%速度控制
機器魚%FPGA%PID%速度控製
궤기어%FPGA%PID%속도공제
robotic fish%FPGA%PID%velocity control
为实现高速和精确的速度控制，设计一种机器鱼高精度实时反馈控制系统。研究仿生机器鱼的推进速度与鱼尾的摆动频率、幅度的关系，以FPGA为主控芯片，完成机器鱼3自由度舵机的控制和实时状态反馈，并与PC决策系统交换数据；将视觉系统采集处理得到的机器鱼实际前进速度作为反馈，与目标速度作差构成闭环，利用PID算法通过控制3自由度舵机的摆动频率和幅度精确控制机器鱼速度，并通过实验得出速度控制曲线和误差曲线。实验结果表明，该系统能完成机器鱼高精度、高稳定度的速度控制。
為實現高速和精確的速度控製，設計一種機器魚高精度實時反饋控製繫統。研究倣生機器魚的推進速度與魚尾的襬動頻率、幅度的關繫，以FPGA為主控芯片，完成機器魚3自由度舵機的控製和實時狀態反饋，併與PC決策繫統交換數據；將視覺繫統採集處理得到的機器魚實際前進速度作為反饋，與目標速度作差構成閉環，利用PID算法通過控製3自由度舵機的襬動頻率和幅度精確控製機器魚速度，併通過實驗得齣速度控製麯線和誤差麯線。實驗結果錶明，該繫統能完成機器魚高精度、高穩定度的速度控製。
위실현고속화정학적속도공제，설계일충궤기어고정도실시반궤공제계통。연구방생궤기어적추진속도여어미적파동빈솔、폭도적관계，이FPGA위주공심편，완성궤기어3자유도타궤적공제화실시상태반궤，병여PC결책계통교환수거；장시각계통채집처리득도적궤기어실제전진속도작위반궤，여목표속도작차구성폐배，이용PID산법통과공제3자유도타궤적파동빈솔화폭도정학공제궤기어속도，병통과실험득출속도공제곡선화오차곡선。실험결과표명，해계통능완성궤기어고정도、고은정도적속도공제。
To achieve high speed and precise control, the article proposes a real-time feedback control system with high precision for robotic fishes. After researching the relationship between the advancing speed and tail beat frequency and amplitude, we utilize FPGA as the master chip to complete the control of 3-DOF servos and the real-time feedback, together with the data exchange with PC decision making system. Specifically, the actual forward speed of robotic fish got by vision system is used as feedback to constitute a closed loop with target speed, followed by precise speed control by controlling the swing frequency and amplitude of the 3-DOF servos on the basis of PID algorithm. Velocity control curve and speed error curve are obtained by experiments, and the results show that the system can control robotic fish with high precision and high stability.
