CN105022269B - The control method and device in bionic machine fish joint - Google Patents
The control method and device in bionic machine fish joint Download PDFInfo
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- CN105022269B CN105022269B CN201510409679.4A CN201510409679A CN105022269B CN 105022269 B CN105022269 B CN 105022269B CN 201510409679 A CN201510409679 A CN 201510409679A CN 105022269 B CN105022269 B CN 105022269B
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Abstract
The present invention provides a kind of control method and device in bionic machine fish joint, including：Obtain the difference between the current first angle in bionic machine fish joint and default second angle；The current first angle of power and the bionic machine fish joint currently exported according to joint motor, utilize fuzzy controller, the proportionality coefficient current to PID controller is adjusted, the proportionality coefficient after being adjusted, and the joint motor is used to drive the bionic machine fish joint；According to the proportionality coefficient after the adjustment, PID control is carried out to difference, standard torque is obtained；Control the joint motor to be driven the bionic machine fish joint, so that the torque in the bionic machine fish joint is the standard torque, and perform the step of obtaining difference again.The scheme provided by the present invention, it is possible to increase the propulsive efficiency of machine fish.
Description
Technical field
The present invention relates to machine fish control field, more particularly to a kind of control method and device in bionic machine fish joint.
Background technology
At present, the joint of bionic machine fish is driven by motor, further, usual adoption rate-Integrated Derivative
(Proportion-Integration-Differentiation, abbreviation PID) control method is controlled to motor, works as use
During the pid control algorithm controlled motor of location following, the Proportional coefficient K in PID controllerPWith the rigidity line in direct ratio in joint
Sexual intercourse.
The propulsive efficiency of machine fish is that the hydrodynamic force that machine fish is obtained promotes machine fish work done and driving machine fish
The ratio for the work(that joint is consumed, specific formula for calculation is as follows：
Wherein η represents propulsive efficiency,Hydrodynamic average propulsive force is represented, U represents the speed of averagely moving about of machine fish,
MiRepresent the torque in the i-th joint, ωiRepresent the angular speed in the i-th joint.In correlation technique, the control program in bionic machine fish joint
Many control methods using rigidity of fixation, the i.e. parameter such as torque in above-mentioned formula use fixed value set in advance, it is impossible to
Accurate simulation biology fish, reduces the propulsive efficiency of bionic machine fish.
The content of the invention
The present invention provides a kind of control method and device in bionic machine fish joint, the propulsion for improving bionic machine fish
Efficiency.
The first aspect of the invention is to provide a kind of control method in bionic machine fish joint, including：
Obtain bionic machine fish joint current first angle θ and default second angle θ*Between difference e rror；
The power P currently exported according to joint motormThe current first angle θ with the bionic machine fish joint, is utilized
Fuzzy controller, comparative example-current proportionality coefficient of Integrated Derivative PID controller is adjusted, the ratio system after being adjusted
Number, the joint motor is used to drive the bionic machine fish joint；
According to the proportionality coefficient after the adjustment, PID control is carried out to the difference e rror, standard torque is obtained；
The joint motor is controlled to be driven the bionic machine fish joint, so that the bionic machine fish joint
Torque is the standard torque, and performs the current first angle θ in the acquisition bionic machine fish joint and default the again
Two angle, θs*Between difference e rror the step of.
Another aspect of the present invention is to provide a kind of control device in bionic machine fish joint, including：
Acquisition module, for obtaining the current first angle θ in bionic machine fish joint and default second angle θ*Between
Difference e rror；
Fuzzy control model, for the power P currently exported according to joint motormIt is current with the bionic machine fish joint
First angle θ, using fuzzy controller, comparative example-current proportionality coefficient of Integrated Derivative PID controller is adjusted, and is obtained
Proportionality coefficient after must adjusting, the joint motor is used to drive the bionic machine fish joint；
Pid control module, for according to the proportionality coefficient after the adjustment, PID control to be carried out to the difference e rror,
Obtain standard torque；
Processing module, for controlling the joint motor to be driven the bionic machine fish joint, so that described imitative
The torque in raw machine fish joint is the standard torque, and indicates that the acquisition module performs the acquisition bionic machine fish again
The current first angle θ in joint and default second angle θ*Between difference e rror the step of.
The control method and device in the bionic machine fish joint that the present invention is provided, according to the joint angles of bionic machine fish and
Power output for driving the crucial joint motor of machine fish, by the method for fuzzy control, the ratio control to PID controller
Coefficient processed enters Mobile state adjustment, and variable rigidity control is carried out to machine fish so as to realize, improves the propulsive efficiency of machine fish.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is a kind of schematic flow sheet of the control method in bionic machine fish joint that the embodiment of the present invention one is provided；
Fig. 2 is the schematic flow sheet of the control method in another bionic machine fish joint that the embodiment of the present invention one is provided；
Fig. 3 is the FB(flow block) of the control method in another bionic machine fish joint that the embodiment of the present invention one is provided；
Fig. 4 A are the input variable P of fuzzy controller in the embodiment of the present invention onemMembership function curve；
Fig. 4 B are the input variable θ of fuzzy controller in the embodiment of the present invention one membership function curve；
Fig. 4 C are the output variable Δ K of fuzzy controller in the embodiment of the present invention onePMembership function curve；
Fig. 5 is a kind of structural representation of the control device in bionic machine fish joint that the embodiment of the present invention two is provided.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.
Fig. 1 is a kind of schematic flow sheet of the control method in bionic machine fish joint that the embodiment of the present invention one is provided, such as
Shown in Fig. 1, the control method includes：
101st, bionic machine fish joint current first angle θ and default second angle θ is obtained*Between difference
error。
102nd, the power P currently exported according to joint motormThe current first angle θ with the bionic machine fish joint,
Using fuzzy controller, the proportionality coefficient current to PID controller is adjusted, the proportionality coefficient after being adjusted, the pass
Section motor is used to drive the bionic machine fish joint；
103rd, according to the proportionality coefficient after the adjustment, PID control is carried out to the difference e rror, standard torque is obtained；
104th, the joint motor is controlled to be driven the bionic machine fish joint, so that the bionic machine fish is closed
The torque of section is the standard torque, and performs the current first angle θ in the acquisition bionic machine fish joint again with presetting
Second angle θ*Between difference e rror the step of.
Wherein, the first angle can gather acquisition by being arranged on the sensor in bionic machine fish joint.Specifically,
The joint motor is specifically as follows direct current generator；θ is the angle that bionic machine fish joint is actually reached；Error represents current
The angle in bionic machine fish joint and default second angle θ*Between error, for example, error=θ*-θ.Default second jiao
Spend θ*Value can determine that the present embodiment is not limited according to actual needs.
In practical application, machine fish joint platform is built first with direct current generator when initial, specifically, utilizing PID control
Device, the first angle θ and default second angle θ current to bionic machine fish joint*Between difference e rror carry out PID controls
System, obtains corresponding torque M, controls the joint motor to drive the bionic machine fish joint, and make the bionic machine fish joint
Torque reach PID control obtain torque M, so as to realize the location following to machine fish joint；Follow-up, utilize Fuzzy Control
Device processed, to the power P of the current output of joint motormFuzzy Control is carried out with the current first angle θ in the bionic machine fish joint
System, the Proportional coefficient K after being adjustedP', according to the Proportional coefficient K after the adjustmentP', the difference e rror is compared
Example-Integrated Derivative PID control, obtains standard torque M；Control joint motor continues to be driven bionic machine fish joint, and
The torque in the bionic machine fish joint is set to reach the standard torque；Above-mentioned steps are repeated afterwards, so as to there are PID controls
While the proportionality coefficient of device processed enters Mobile state adjustment, dynamic control is carried out to bionic machine fish joint, propulsive efficiency is improved.
Specifically, as shown in Fig. 2 Fig. 2 is the control in another bionic machine fish joint that the embodiment of the present invention one is provided
On the basis of the schematic flow sheet of method, Fig. 1 illustrated embodiments, 102 can specifically include：
201st, using the fuzzy controller pre-established, to the power PmFuzzy control is carried out with the first angle θ
Processing, obtains adjustment proportionality coefficient Δ KP；
202nd, by the adjustment proportionality coefficient Δ KPWith the Proportional coefficient K of current PID controlPProcessing is overlapped, is adjusted
Proportional coefficient K after wholeP’。
Wherein, KPThe proportionality coefficient of proportional controller in current PID controller is represented, it is necessary in explanation, this programme
Use feedback and cycle calculations, for example, inscribed at first, the Proportional coefficient K of PID controller is inscribed during to firstP
After adjustment, the Proportional coefficient K after being adjusted under the first moment is obtainedP', accordingly, subsequent time after the first moment it is fuzzy
During control is calculated, the Proportional coefficient K obtained after the adjustment of the first momentP', under the subsequent time after the first moment, then as should
When inscribe current Proportional coefficient KP。
In order to more fully understand this programme, Fig. 3 is another bionic machine fish joint that the embodiment of the present invention one is provided
The FB(flow block) of control method, as shown in figure 3, when initial, utilizing PID controller, current to bionic machine fish joint first
Angle, θ and default second angle θ*Between difference e rror carry out PID control, obtain corresponding torque M, control described close
Section motor drives the bionic machine fish joint, and the torque in the bionic machine fish joint is reached the torque M that PID control is obtained；
Follow-up, using fuzzy controller, to the power P of the current output of joint motormThe current with the bionic machine fish joint
One angle, θ carries out fuzzy control, obtains adjustment proportionality coefficient Δ KP；By the adjustment proportionality coefficient Δ KPWith current PID control
Proportional coefficient KPIt is overlapped, the Proportional coefficient K after being adjustedP’；According to the Proportional coefficient K after adjustmentP', to the difference
Error carries out proportional-integral-differential PID control, obtains standard torque M；Joint motor is controlled to continue to bionic machine fish joint
It is driven, and the torque in the bionic machine fish joint is reached the standard torque；Above-mentioned steps are repeated afterwards, i.e.,
Comparative example coefficient is adjusted again, obtains corresponding standard torque, and controlled motor driving machine fish joint.So as to having
While the proportionality coefficient of PID controller enters Mobile state adjustment, dynamic control is carried out to bionic machine fish joint, improves and promotes effect
Rate.
Specifically, fuzzy control is that the variable based on fuzzy set theory, fuzzy language is fuzzy and reasoning from logic is realized
Control.To the reasoning in daily life and can judge to be imitated and controlled by fuzzy control, it can use a kind of spy
Fixed language represents experience and idea that we usually sum up, sets up a kind of Controlling model of new input and output, and
It can be recognized and be handled by computer.Transmission function or state equation etc. necessarily are had in common Controlling model, for retouching
State the relation between input and output.But the transmission function of some Controlling models can not be determined, and fuzzy control can exactly be avoided
These, fuzzy control need to only analyze the result that some control method is likely to occur, and with a series of fuzzy condition statement come total
The rule of control is born, so as to build the model of a Fuzzy Linguistic Variable, the side of some fuzzy reasonings is then reused
Method, it is possible to draw the value of satisfactory output, that is to say, that fuzzy control is to realize control function using linguistic variable
's.
In present embodiment, the work(exported using fuzzy controller, the joint output angle to machine fish with joint motor
Rate carries out fuzzy control, and the change value of output joint stiffness is as adjustment proportionality coefficient Δ KP, current proportionality coefficient is entered
Row adjustment, makes the standby advantage easily observed of input and output measurer of fuzzy control.
Further, in order to improve the accuracy of fuzzy control, it is necessary to enter to the membership function of each variable in fuzzy control
Row setting.Accordingly, on the basis of Fig. 2 illustrated embodiments, 201 can specifically include：
By power PmIt is used as the first input variable of the fuzzy controller, the membership function bag of first input variable
The first N functions and the first Z functions are included, wherein, the type of the first N functions is trimf, and parameter is [Pmin, Pmin, Pmin/
2]；The type of the first Z functions is trmf, and parameter is [Pmin, Pmin/2,0], wherein, Pmin is the joint motor
Minimal power values；
Using first angle θ as the second input variable of the fuzzy controller, second input variable is subordinate to letter
Number includes the 2nd N functions, the 2nd Z functions and P functions, wherein, the type of the 2nd N functions is trimf, and parameter is [- θf,-
θf, 0]；The type of the 2nd Z functions is trimf, and parameter is [- θf, 0, θf]；The type of the P functions is trimf, ginseng
Number is [0, θf, θf], wherein, θfFor the amplitude of the bionic machine fish joint angles；
Will adjustment proportionality coefficient Δ KPIt is used as the output variable of the fuzzy controller, the membership function of the output variable
Including the 3rd Z functions, PS functions and PB functions, wherein, the type of the 3rd Z functions is trimf, and parameter is [0,0.5*KP, 0.8*
KP]；The type of PS functions is trimf, and parameter is [0.25*KP, 0.75*KP, KP]；The type of PB functions is smf, and parameter is
[0.625*KP, KP]；
According to current power PmWith first angle θ membership function and the fuzzy control table of the fuzzy controller,
Obtain the adjustment proportionality coefficient Δ KP。
Specifically, Fig. 4 A are the input variable P of fuzzy controller in the embodiment of the present invention onemMembership function curve, figure
4B is the input variable θ of fuzzy controller in the embodiment of the present invention one membership function curve, and Fig. 4 C are the embodiment of the present invention one
The output variable Δ K of middle fuzzy controllerPMembership function curve.Wherein, the minimal power values Pmin of joint motor refers to work(
The negative power of joint motor during rate maximum absolute value.
In above-mentioned each membership function, the deviation (Positive) of P function representation positive directions, N function representation negative directions
Deviation (Negative), the small deviation of PS function representation positive directions (Positive Small), PB function representations positive direction is big
Deviation (Positive Big), Z function representations are approximately equal to zero deviation (Zero).
In present embodiment, effectively it can be distinguished using membership function in fuzzy control, different input variables become with output
Type belonging to amount, so as to more accurately realize fuzzy control.
Further specifically, in fuzzy control, in order to obtain the output variable of fuzzy control, in addition it is also necessary to set up corresponding
Fuzzy control table, to improve the propulsive efficiency in machine fish joint.Accordingly, on the basis of aforementioned embodiments, the basis
Current power PmWith first angle θ membership function and fuzzy control table, the adjustment proportionality coefficient Δ K is obtainedP, specifically
It can include：
If current power PmIt is subordinate to the first N functions, and current first angle θ is subordinate to the P functions, then it is described
Adjust proportionality coefficient Δ KPIt is subordinate to the PS functions；
If current power PmIt is subordinate to the first N functions, and current first angle θ is subordinate to the 2nd N functions, then
The adjustment proportionality coefficient Δ KPIt is subordinate to the PS functions；
If current power PmIt is subordinate to the first N functions, and current first angle θ is subordinate to the 2nd Z functions, then
The adjustment proportionality coefficient Δ KPIt is subordinate to the PB functions；
If current power PmIt is subordinate to the first Z functions, and current first angle θ is subordinate to the P functions, then it is described
Adjust proportionality coefficient Δ KPIt is subordinate to the 3rd Z functions；
If current power PmIt is subordinate to the first Z functions, and current first angle θ is subordinate to the 2nd N functions, then
The adjustment proportionality coefficient Δ KPIt is subordinate to the 3rd Z functions；
If current power PmIt is subordinate to the first Z functions, and current first angle θ is subordinate to the 2nd Z functions, then
The adjustment proportionality coefficient Δ KPIt is subordinate to the PS functions.
In order to more intuitively understand the scheme of present embodiment, based on above-mentioned embodiment, in Fig. 5 embodiment of the present invention one
The schematic diagram of fuzzy control table, as shown in table 1, according to power PmWith first angle θ membership function, it may be determined that Δ KPPerson in servitude
Membership fuction.
Table 1
In present embodiment, variable rigidity control is carried out to machine fish using fuzzy control table, the propulsion of machine fish can be improved
Efficiency.
Specifically, after proportionality coefficient after being adjusted, according to the proportionality coefficient after the adjustment, entering to difference e rror
Row proportional-integral-differential PID control.Accordingly, on the basis of foregoing any embodiment, 103 can specifically include：
According to the proportionality coefficient after adjustment, ratio control is carried out to the difference e rror, the first output signal is obtained；
Control is integrated to the difference e rror, the second output signal is obtained；
Differential control is carried out to the difference e rror, the 3rd output signal is obtained；
Processing is overlapped to first output signal, second output signal and the 3rd output signal, obtained
Obtain the standard torque.
Specifically, fuzzy controller is applied in PID controller, fuzzy controller is combined with PID controller, improved
The promotion efficiency of bionic machine fish.Wherein, pid control algorithm is more ripe and easy regulation, and the rigidity relative to machine fish model is
Fixed value, the full function expression formula that obtain between stiffness variation rule and input parameter is relatively difficult, and fuzzy controller
Control method do not need accurate function expression, therefore using fuzzy controller come the change of control machine fish joint stiffness,
Effectively improve propulsive efficiency.
The control method in the bionic machine fish joint that the present embodiment is provided, according to the joint angles of bionic machine fish and is used for
The power output of the crucial joint motor of machine fish is driven, by the method for fuzzy control, the ratio to PID controller controls system
Number enters Mobile state adjustment, and variable rigidity control is carried out to machine fish so as to realize, improves the propulsive efficiency of machine fish.
Fig. 5 is a kind of structural representation of the control device in bionic machine fish joint that the embodiment of the present invention two is provided, such as
Shown in Fig. 5, the device includes：
Acquisition module 51, for obtaining the current first angle θ in bionic machine fish joint and default second angle θ*It
Between difference e rror；
Fuzzy control model 52, for the power P currently exported according to joint motormWork as with the bionic machine fish joint
Preceding first angle θ, using fuzzy controller, comparative example-current proportionality coefficient of Integrated Derivative PID controller is adjusted,
Proportionality coefficient after being adjusted, the joint motor is used to drive the bionic machine fish joint；
Pid control module 53, for according to the proportionality coefficient after the adjustment, PID controls to be carried out to the difference e rror
System, obtains standard torque；
Processing module 54, for controlling the joint motor to be driven the bionic machine fish joint, so that described
The torque in bionic machine fish joint is the standard torque, and indicates that acquisition module 51 performs the acquisition bionic machine fish again
The current first angle θ in joint and default second angle θ*Between difference e rror the step of.
In practical application, machine fish joint platform is built first with direct current generator when initial, specifically, pid control module
53 utilize PID controller, the current first angle θ in bionic machine fish joint obtained to acquisition module 51 with default second jiao
Spend θ*Between difference e rror carry out PID control, obtain corresponding torque M, the control joint motor of processing module 54 drives this to imitate
Raw machine fish joint, and the torque in the bionic machine fish joint is reached the torque M that PID control is obtained, so as to realize to machine
The location following in fish joint；Follow-up, fuzzy control model 52 utilizes fuzzy controller, to the power of the current output of joint motor
PmFuzzy control, the Proportional coefficient K after being adjusted are carried out with the current first angle θ in the bionic machine fish jointP', PID
Control module 53 is according to the Proportional coefficient K after the adjustmentP', the difference e rror currently obtained to acquisition module 51 is carried out again
PID control, obtains standard torque M；Processing module 54 controls joint motor to continue to be driven bionic machine fish joint again,
And the torque in the bionic machine fish joint is reached the standard torque；Above-mentioned steps are repeated afterwards, so as to there is PID
While the proportionality coefficient of controller enters Mobile state adjustment, dynamic control is carried out to bionic machine fish joint, propulsive efficiency is improved.
Specifically, on the basis of Fig. 5 illustrated embodiments, fuzzy control model 52 can specifically include：
Processing unit, for using the fuzzy controller pre-established, to the power PmCarried out with the first angle θ
Fuzzy control is handled, and obtains adjustment proportionality coefficient Δ KP；
First superpositing unit, for adjusting proportionality coefficient Δ K by describedPWith the Proportional coefficient K of current PID controlPFolded
Plus processing, the Proportional coefficient K after being adjustedP’。
Wherein, KPThe proportionality coefficient of proportional controller in current PID controller is represented, it is necessary in explanation, this programme
Use feedback and cycle calculations, for example, inscribed at first, the Proportional coefficient K of PID controller is inscribed during to firstP
After adjustment, the Proportional coefficient K after being adjusted under the first moment is obtainedP', accordingly, subsequent time after the first moment it is fuzzy
During control is calculated, the Proportional coefficient K obtained after the adjustment of the first momentP', under the subsequent time after the first moment, then as should
When inscribe current Proportional coefficient KP。
In present embodiment, the work(exported using fuzzy controller, the joint output angle to machine fish with joint motor
Rate carries out fuzzy control, and the change value of output joint stiffness is as adjustment proportionality coefficient Δ KP, current proportionality coefficient is entered
Row adjustment, makes the standby advantage easily observed of input and output measurer of fuzzy control.
Further, in order to improve the accuracy of fuzzy control, it is necessary to enter to the membership function of each variable in fuzzy control
Row setting.Accordingly, on the basis of a upper embodiment, the processing unit includes：
First input variable subelement, for by power PmIt is described as the first input variable of the fuzzy controller
The membership function of first input variable includes the first N functions and the first Z functions, wherein, the type of the first N functions is
Trimf, parameter is [Pmin, Pmin, Pmin/2]；The type of the first Z functions be trmf, parameter for [Pmin, Pmin/2,
0]；
Second input variable subelement, for regarding first angle θ as the second input variable of the fuzzy controller, institute
Stating the membership function of the second input variable includes the 2nd N functions, the 2nd Z functions and P functions, wherein, the class of the 2nd N functions
Type is trimf, and parameter is [- θf,-θf, 0]；The type of the 2nd Z functions is trimf, and parameter is [- θf, 0, θf]；The P
The type of function is trimf, and parameter is [0, θf, θf]；
Output variable subelement, for proportionality coefficient Δ K will to be adjustedPIt is used as the output variable of the fuzzy controller, institute
Stating the membership function of output variable includes the 3rd Z functions, PS functions and PB functions, wherein, the type of the 3rd Z functions is trimf,
Parameter is [0,0.5*KP, 0.8*KP]；The type of PS functions is trimf, and parameter is [0.25*KP, 0.75*KP, KP]；PB functions
Type be smf, parameter be [0.625*KP, KP]；
Subelement is handled, for according to current power PmMembership function and the fuzzy control with first angle θ
The fuzzy control table of device, obtains the adjustment proportionality coefficient Δ KP。
Wherein, the minimal power values Pmin of joint motor refers to the negative power of joint motor during power maximum absolute value.
In above-mentioned each membership function, the deviation (Positive) of P function representation positive directions, the deviation of N function representation negative directions
(Negative), the small deviation of PS function representations positive direction (Positive Small), the big deviation of PB function representation positive directions
(Positive Big), Z function representations are approximately equal to zero deviation (Zero).
In present embodiment, effectively it can be distinguished using membership function in fuzzy control, different input variables become with output
Type belonging to amount, so as to more accurately realize fuzzy control.
Further specifically, in fuzzy control, in order to obtain the output variable of fuzzy control, in addition it is also necessary to set up corresponding
Fuzzy control table, to improve the propulsive efficiency in machine fish joint.Accordingly, on the basis of aforementioned embodiments, the processing
Subelement, if specifically for current power PmIt is subordinate to the first N functions, and current first angle θ is subordinate to the P letters
Number, then it is described to adjust proportionality coefficient Δ KPIt is subordinate to the PS functions；If current power PmIt is subordinate to the first N functions, and currently
First angle θ be subordinate to the 2nd N functions, then the adjustment proportionality coefficient Δ KPIt is subordinate to the PS functions；If current work(
Rate PmIt is subordinate to the first N functions, and current first angle θ is subordinate to the 2nd Z functions, then it is described to adjust proportionality coefficient Δ
KPIt is subordinate to the PB functions；If current power PmIt is subordinate to the first Z functions, and current first angle θ is subordinate to the P letters
Number, then it is described to adjust proportionality coefficient Δ KPIt is subordinate to the 3rd Z functions；If current power PmIt is subordinate to the first Z functions, and
Current first angle θ is subordinate to the 2nd N functions, then the adjustment proportionality coefficient Δ KPIt is subordinate to the 3rd Z functions；If working as
Preceding power PmIt is subordinate to the first Z functions, and current first angle θ is subordinate to the 2nd Z functions, then the adjustment ratio
Coefficient delta KPIt is subordinate to the PS functions.
In present embodiment, variable rigidity control is carried out to machine fish using fuzzy control table, the propulsion of machine fish can be improved
Efficiency.
Specifically, after proportionality coefficient after being adjusted, according to the proportionality coefficient after the adjustment, entering to difference e rror
Row PID control.Accordingly, on the basis of foregoing any embodiment, pid control module 53 can specifically include：
Ratio control unit, for according to the proportionality coefficient after adjustment, carrying out ratio control to the difference e rror, obtaining
Obtain the first output signal；
Integral control unit, for being integrated control to the difference e rror, obtains the second output signal；
Differential control unit, for carrying out differential control to the difference e rror, obtains the 3rd output signal；
Second superpositing unit, for believing first output signal, second output signal and the 3rd output
Processing number is overlapped, the standard torque is obtained.
Specifically, fuzzy controller is applied in PID controller, fuzzy controller is combined with PID controller, improved
The promotion efficiency of bionic machine fish.Wherein, pid control algorithm is more ripe and easy regulation, and the rigidity relative to machine fish model is
Fixed value, the full function expression formula that obtain between stiffness variation rule and input parameter is relatively difficult, and fuzzy controller
Control method do not need accurate function expression, therefore using fuzzy controller come the change of control machine fish joint stiffness,
Effectively improve propulsive efficiency.
The control device in the bionic machine fish joint that the present embodiment is provided, according to the joint angles of bionic machine fish and is used for
The power output of the crucial joint motor of machine fish is driven, by the method for fuzzy control, the ratio to PID controller controls system
Number enters Mobile state adjustment, and variable rigidity control is carried out to machine fish so as to realize, improves the propulsive efficiency of machine fish.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the device of foregoing description
Specific work process, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above-mentioned each method embodiment can lead to
The related hardware of programmed instruction is crossed to complete.Foregoing program can be stored in a computer read/write memory medium.The journey
Sequence upon execution, performs the step of including above-mentioned each method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or
Person's CD etc. is various can be with the medium of store program codes.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of control method in bionic machine fish joint, it is characterised in that including：
Obtain bionic machine fish joint current first angle θ and default second angle θ*Between difference e rror；
The power P currently exported according to joint motormCurrent first angle θ, utilizes Fuzzy Control with the bionic machine fish joint
Device processed, comparative example-current proportionality coefficient of Integrated Derivative PID controller is adjusted, the proportionality coefficient after being adjusted, institute
Stating joint motor is used to drive the bionic machine fish joint；
According to the proportionality coefficient after the adjustment, PID control is carried out to the difference e rror, standard torque is obtained；
The joint motor is controlled to be driven the bionic machine fish joint, so that the torque in the bionic machine fish joint
For the standard torque, and the current first angle θ in the acquisition bionic machine fish joint and default second jiao are performed again
Spend θ*Between difference e rror the step of.
2. according to the method described in claim 1, it is characterised in that the power P currently exported according to joint motormAnd institute
The current first angle θ in bionic machine fish joint is stated, using fuzzy controller, the proportionality coefficient current to PID controller is carried out
Adjustment, the proportionality coefficient after being adjusted, including：
Using the fuzzy controller pre-established, to the power PmFuzzy control processing is carried out with the first angle θ, is obtained
Adjust proportionality coefficient Δ KP；
By the adjustment proportionality coefficient Δ KPWith the Proportional coefficient K of current PID controlPProcessing is overlapped, the ratio after being adjusted
Example COEFFICIENT KP’。
3. method according to claim 2, it is characterised in that described using the fuzzy controller pre-established, to described
Power PmFuzzy control processing is carried out with the first angle θ, adjustment proportionality coefficient Δ K is obtainedP, including：
By power PmAs the first input variable of the fuzzy controller, the membership function of first input variable includes the
One N functions and the first Z functions, wherein, the type of the first N functions is trimf, and parameter is [Pmin, Pmin, Pmin/2]；
The type of the first Z functions is trimf, and parameter is [Pmin, Pmin/2,0]；Wherein, Pmin be the joint motor most
Small-power value；
It regard first angle θ as the second input variable of the fuzzy controller, the membership function bag of second input variable
The 2nd N functions, the 2nd Z functions and P functions are included, wherein, the type of the 2nd N functions is trimf, and parameter is [- θf,-θf,
0]；The type of the 2nd Z functions is trimf, and parameter is [- θf, 0, θf]；The type of the P functions is trimf, and parameter is
[0, θf, θf]；Wherein, θfFor the amplitude of the bionic machine fish joint angles；Will adjustment proportionality coefficient Δ KPAs described fuzzy
The output variable of controller, the membership function of the output variable includes the 3rd Z functions, PS functions and PB functions, wherein, the 3rd
The type of Z functions is trimf, and parameter is [0,0.5*KP, 0.8*KP]；The type of PS functions is trimf, and parameter is [0.25*KP,
0.75*KP, KP]；The type of PB functions is smf, and parameter is [0.625*KP, KP]；
According to current power PmWith first angle θ membership function and the fuzzy control table of the fuzzy controller, obtain
The adjustment proportionality coefficient Δ KP。
4. method according to claim 3, it is characterised in that the current power P of the basismWith being subordinate to for first angle θ
The fuzzy control table of function and the fuzzy controller, obtains the adjustment proportionality coefficient Δ KP, including：
If current power PmIt is subordinate to the first N functions, and current first angle θ is subordinate to the P functions, then the adjustment
Proportionality coefficient Δ KPIt is subordinate to the PS functions；
If current power PmIt is subordinate to the first N functions, and current first angle θ is subordinate to the 2nd N functions, then it is described
Adjust proportionality coefficient Δ KPIt is subordinate to the PS functions；
If current power PmIt is subordinate to the first N functions, and current first angle θ is subordinate to the 2nd Z functions, then it is described
Adjust proportionality coefficient Δ KPIt is subordinate to the PB functions；
If current power PmIt is subordinate to the first Z functions, and current first angle θ is subordinate to the P functions, then the adjustment
Proportionality coefficient Δ KPIt is subordinate to the 3rd Z functions；
If current power PmIt is subordinate to the first Z functions, and current first angle θ is subordinate to the 2nd N functions, then it is described
Adjust proportionality coefficient Δ KPIt is subordinate to the 3rd Z functions；
If current power PmIt is subordinate to the first Z functions, and current first angle θ is subordinate to the 2nd Z functions, then it is described
Adjust proportionality coefficient Δ KPIt is subordinate to the PS functions.
5. the method according to any one of claim 1-4, it is characterised in that the ratio system according to after the adjustment
Number, PID control is carried out to the difference e rror, obtains standard torque, including：
According to the proportionality coefficient after adjustment, ratio control is carried out to the difference e rror, the first output signal is obtained；
Control is integrated to the difference e rror, the second output signal is obtained；
Differential control is carried out to the difference e rror, the 3rd output signal is obtained；
Processing is overlapped to first output signal, second output signal and the 3rd output signal, institute is obtained
State standard torque.
6. a kind of control device in bionic machine fish joint, it is characterised in that including：
Acquisition module, for obtaining the current first angle θ in bionic machine fish joint and default second angle θ*Between difference
error；
Fuzzy control model, for the power P currently exported according to joint motormThe current with the bionic machine fish joint
One angle, θ, using fuzzy controller, comparative example-current proportionality coefficient of Integrated Derivative PID controller is adjusted, and is adjusted
Proportionality coefficient after whole, the joint motor is used to drive the bionic machine fish joint；
Pid control module, for according to the proportionality coefficient after the adjustment, PID control to be carried out to the difference e rror, is obtained
Standard torque；
Processing module, for controlling the joint motor to be driven the bionic machine fish joint, so that the bionical machine
The torque in device fish joint is the standard torque, and indicates that the acquisition module performs the acquisition bionic machine fish joint again
Current first angle θ and default second angle θ*Between difference e rror the step of.
7. device according to claim 6, it is characterised in that the fuzzy control model includes：
Processing unit, for using the fuzzy controller pre-established, to the power PmObscured with the first angle θ
Control process, obtains adjustment proportionality coefficient Δ KP；
First superpositing unit, for adjusting proportionality coefficient Δ K by describedPWith the Proportional coefficient K of current PID controlPIt is overlapped place
Reason, the Proportional coefficient K after being adjustedP’。
8. device according to claim 7, it is characterised in that the processing unit includes：
First input variable subelement, for by power PmIt is defeated as the first input variable of the fuzzy controller, described first
Entering the membership function of variable includes the first N functions and the first Z functions, wherein, the type of the first N functions is trimf, parameter
For [Pmin, Pmin, Pmin/2]；The type of the first Z functions is trimf, and parameter is [Pmin, Pmin/2,0]；Wherein,
Pmin is the minimal power values of the joint motor；
Second input variable subelement, for using first angle θ as the fuzzy controller the second input variable, described
The membership function of two input variables includes the 2nd N functions, the 2nd Z functions and P functions, wherein, the type of the 2nd N functions is
Trimf, parameter is [- θf,-θf, 0]；The type of the 2nd Z functions is trimf, and parameter is [- θf, 0, θf]；The P functions
Type be trimf, parameter be [0, θf, θf]；Wherein, θfFor the amplitude of the bionic machine fish joint angles；
Output variable subelement, for proportionality coefficient Δ K will to be adjustedPIt is used as the output variable of the fuzzy controller, the output
The membership function of variable includes the 3rd Z functions, PS functions and PB functions, wherein, the type of the 3rd Z functions is trimf, and parameter is
[0,0.5*KP, 0.8*KP]；The type of PS functions is trimf, and parameter is [0.25*KP, 0.75*KP, KP]；The type of PB functions is
Smf, parameter is [0.625*KP, KP]；
Subelement is handled, for according to current power PmWith first angle θ membership function and the fuzzy controller
Fuzzy control table, obtains the adjustment proportionality coefficient Δ KP。
9. device according to claim 8, it is characterised in that
The processing subelement, if specifically for current power PmIt is subordinate to the first N functions, and current first angle θ is subordinate to
Belong to the P functions, then the adjustment proportionality coefficient Δ KPIt is subordinate to the PS functions；If current power PmIt is subordinate to the first N letters
Number, and current first angle θ is subordinate to the 2nd N functions, then it is described to adjust proportionality coefficient Δ KPIt is subordinate to the PS functions；If
Current power PmIt is subordinate to the first N functions, and current first angle θ is subordinate to the 2nd Z functions, then the adjustment is compared
Example coefficient delta KPIt is subordinate to the PB functions；If current power PmIt is subordinate to the first Z functions, and current first angle θ is subordinate to
The P functions, then it is described to adjust proportionality coefficient Δ KPIt is subordinate to the 3rd Z functions；If current power PmIt is subordinate to the first Z
Function, and current first angle θ is subordinate to the 2nd N functions, then it is described to adjust proportionality coefficient Δ KPIt is subordinate to the 3rd Z letters
Number；If current power PmIt is subordinate to the first Z functions, and current first angle θ is subordinate to the 2nd Z functions, then it is described
Adjust proportionality coefficient Δ KPIt is subordinate to the PS functions.
10. the device according to any one of claim 6-9, it is characterised in that the pid control module includes：
Ratio control unit, for according to the proportionality coefficient after adjustment, ratio control to be carried out to the difference e rror, obtains the
One output signal；
Integral control unit, for being integrated control to the difference e rror, obtains the second output signal；
Differential control unit, for carrying out differential control to the difference e rror, obtains the 3rd output signal；
Second superpositing unit, for entering to first output signal, second output signal and the 3rd output signal
Row overlap-add procedure, obtains the standard torque.
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| CN105955015A (en) * | 2016-05-17 | 2016-09-21 | 成都奥特为科技有限公司 | Fuzzy control method used for exoskeleton system |
| CN107505838B (en) * | 2017-07-12 | 2019-08-06 | 河海大学 | A kind of method of accurate control machine fish C-shaped turning motion |
| CN107479373B (en) * | 2017-07-12 | 2019-08-06 | 河海大学 | Utilize the method for the FUZZY ALGORITHMS FOR CONTROL control machine fish C-shaped turning of angular speed feedback |
| CN107783419B (en) * | 2017-07-12 | 2019-08-06 | 河海大学 | A kind of method of accurate control machine fish joint motions |
| CN109291055B (en) * | 2018-11-29 | 2021-06-01 | 库卡机器人(广东)有限公司 | Robot motion control method, device, computer equipment and storage medium |
| CN110262218A (en) * | 2019-05-20 | 2019-09-20 | 北京航空航天大学 | Control method, device, equipment and the storage medium of machine fish |
| CN112572740B (en) * | 2020-12-16 | 2021-11-12 | 北京机电工程研究所 | Bionic robot fish navigation state smooth switching method |
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