Research on underwater motion modeling and closed-loop control of bionic undulating fin robot

Abstract

Aiming at the problems of unclear underwater motion characteristics and poor robustness of bionic undulating fin robots, the underwater motion characteristics of the robot are studied by force analysis and numerical simulation, and the dynamic model is established. Based on the dynamic model, the proportional-integral-derivative controller (PID) and neural network PID simulation model are established for numerical simulation, and the robot's underwater closed-loop motion control experiment is carried out. The accuracy of the dynamic model and the consistency between the numerical simulation and the experimental results can be verified. The results indicate that under the function of the neural network PID controller, the robot can be closer to the target depth, and the fluctuation range could be smaller. As the above characteristics improve, the control accuracy and stability of the robot could also be enhanced.