A distributed negative power control system for high efficiency swimming of robotic fish

Author

Dong, Xu ; Hongxing, Wei ; Tianmiao, Wang ; Suibing, Zheng

Author_Institution

Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China

fYear

2012

fDate

25-27 July 2012

Firstpage

16

Lastpage

20

Abstract

The propulsive efficiency is the key issue related to the practical application of the robotic fish. The negative work of the muscle of the biological fish reveals the efficient propulsion mechanism of swimming. In this paper, a distributed control system is presented for the robotic fish in an experiment platform. In order to study the relationship among the parameters, the negative work and the propulsive efficiency, this system can real time control each joint of the robotics fish and feedback the information. So the system is composed of three parts: the master-slave controller, the network and the driver of the joint motor. FPGA is chosen to accomplish the motor control and the data transition. Also the network based on LVDS has a high transfer rate to guarantee real-time and reliability of the system operation.

Keywords

autonomous underwater vehicles; distributed control; field programmable gate arrays; marine propulsion; power control; FPGA; LVDS; biological fish muscle; data transition; distributed negative power control system; high efficiency swimming; joint motor driver; joint motor network; low voltage differential signals; master-slave controller; motor control; propulsive efficiency; robotic fish; swimming propulsion mechanism; Brushless DC motors; Control systems; Field programmable gate arrays; Marine animals; Robots; control system; distributed; negative work; robotic fish;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Informatics (INDIN), 2012 10th IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4673-0312-5

Type

conf

DOI

10.1109/INDIN.2012.6301373

Filename

6301373