A Distributed Negative Power Control System for High Efficiency Swimming of Robotic Fish
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.
control system robotic fish distributed negative work
Xu Dong Wei Hongxing Wang Tianmiao Zheng Suibing
School of Automation Science and Electrical Engineering Beihang University Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China
国际会议
IEEE 10th International Conference on Industrial Informatics(第十届IEEE工业信息学国际学术会议 INDIN2012)
北京
英文
16-20
2012-07-25（万方平台首次上网日期，不代表论文的发表时间）