Title :
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
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;
Conference_Titel :
Industrial Informatics (INDIN), 2012 10th IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-0312-5
DOI :
10.1109/INDIN.2012.6301373
