ICPF智能材料驱动的仿生微型机器鱼的研究
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摘要
仿生微型机器鱼作为仿生机器鱼的一种，有着大型机器鱼不可替代的作用。ICPF(Ionic Conducting Polymer Film离子导电聚合物薄膜)材料的驱动电压低、具有较高的能量转化效率，在交变电压作用下，会产生类似于鱼类尾部的左右摆动，适于用于微型机器鱼的尾鳍驱动，而且ICPF重量轻、结构简单、易于小型化。基于ICPF驱动的微型仿生机器鱼可由3V低电压驱动，具有体积小、重量轻、常规探测仪器难以探测到的优点。这是其他非马达驱动器所不能比拟的。目前ICPF作为仿生鱼驱动器方面的力学特性、电特性以及控制模型的研究还不完善，有必要对其进行深入研究。本文的研究内容主要包括两大部分：第一部分是ICPF的基础研究和面向控制的ICPF驱动模型的研究，第二部分是ICPF驱动的仿生微型机器鱼的研究和微型机器鱼的推进模型与效率研究。
首先，论文在ICPF的基础研究中对ICPF的形态特征、驱动特性和传感特性进行了深入的研究和分析。通过实验重点研究了驱动电压与输出曲率的关系、ICPF的驱动电压与输出力的关系、驱动电压与输出位移的关系等。特别是建立了输出曲率与输入电压的关系，解决了以往ICPF大形变时采用激光位移传感器测量输出不准确的问题，通过曲率来精确测量ICPF的输出。对于ICPF的传感特性，通过实验获得了ICPF摆动的最大速度与输出电压的关系的曲线。还对ICPF的热力学效率进行了分析，提出了提高热力学效率的方法。
在ICPF特性研究的基础上，本文提出了一种可用于微型机器鱼实时控制的ICPF的驱动模型。模型包括电模型、电机械耦合模型以及机械悬臂梁模型三部分。电模型是结合电荷与输入电压的映射关系以及ICPF的等效电路，描述ICPF非线性电容上的电压输入与电荷输出的关系。电机械耦合模型是将电荷在ICPF中的运动带动ICPF局部结构运动，转化为ICPF内部应力的过程。机械悬臂梁模型是将内部应力转换为外部弯曲力矩和弯曲曲率的问题。该模型明确给出了输入电压与输出电荷之间的映射关系并适合用于实时控制。
随后，开展了ICPF驱动的仿生微型机器鱼的研究、推进模型研究以及提高推进效率的研究，主要研究内容包括：
参考自然界小鱼的生物学特征，根据ICPF材料的特性、模型和小型鱼类运动和受力的特点，设计了长度在10cm以下的、能够三维游动、速度更快的微型机器鱼。采用ICPF作为微型机器鱼的尾鳍和胸鳍驱动器来实现微型机器鱼的各种运动模式。通过一系列实验，对设计的微型机器鱼的相关性能进行验证。
提出了微型机器鱼的尾鳍推进模型来描述控制电压信号与机器鱼巡航速度的关系。通过解ICPF的欧拉-贝努利悬臂梁4阶偏微分方程，采用模态分析法推导出ICPF尾鳍形状与输入电压之间的传递函数。模型结合了尾鳍与水的相互作用，最终推导出ICPF的输入电压与机器鱼巡航速度的关系。实验证明该尾鳍推进模型能够很好地预测在不同频率驱动电压作用下微型机器鱼的巡航速度，该模型可以用于指导微型机器鱼的设计。
为了提高微型机器鱼的续航能力，我们重点研究了微型机器鱼的效率优化。提出采用多段ICPF推进器拟合鱼的尾部摆动轨迹来提高推进效率的方法，并通过仿真验证了方法的可行性。我们还优化了尾鳍被动鳍的形状，采用的鳍条结构的尾鳍来提高微型机器鱼的效率，有助于尾鳍形成更好的涡流来提高微型机器鱼的推进性能，使得微型机器鱼的游速有较大提高。
总之，以上的研究证明ICPF是微型机器鱼驱动的理想材料，好的控制方法可以使其在微型机器鱼的尾鳍驱动方面取得良好的效果。
A biomimetic micro robot fish as a type of biomimetic robot fish plays irreplaceable rolein robot fish. ICPF (Ionic Conducting Polymer Film) has the advantages of low actuationvoltage, high efficiency.It can swing like fish tail under alternating voltage actuation, so it issuitable to be tail fin of micro robot fish. ICPF is light in weight and simple in structure. It iseasy to miniature too. A micro biomimetic robot fish actuated by ICPF can work at3Vvoltage, which is in size, light in weight and is difficult to detecte. This is incomparable toother non-motor actuators. Micro robot fish actuated by ICPF has important applications inthe field of military and civilian for example longterm underwater latent work. The microrobot fish can be used in ships, boats and nuclear power stations and other equipment with asmall pipe dredging. It can also be used for medical treatment, such as the gut, screening,treatment of vascular disease. Mechanical properties, electirc properties and modeling ofICPF as actuator of biomimetic fish are not perfect, so it is necessary to study it deeply.
The purpose of this paper is to study a micro robot fish actuated by ICPF. Because of itsunique mechanical and electronic transfer characteristics, ICPF can be used as both actuatorsand sensors, so it is usually called smart materials. ICPF is taken as the material of microrobot fish actuator after deeply analyzing the properties of it. On the basis of analyzing themotion characteristics of small fish and the force acting on small fish, we designed a threedimensional swimming automaus biomimetic micro robot fish actuated by the ICPF. Themicro robot fish in the water can carry out cruising straight, turn, ascent, descent, burst andmany other moments. ICPF act as the tail fin and the pectoral fin actuator in the micro robotfish. This dissertation mainly includes two parts: the first part is to study the properties ofICPF and to establish a real time control-oriented actuation model for ICPF, and the secondpart is about the ICPF actuated biomimetic micro robot fish.
Firstly, ICPF actuting properties and sensing properties are studied deeply. ICPFactuation properties include: electrical properties, mechanical to electrical properties andmechanical properties. Especially, experiment study focus on the relationship between ICPFactuation voltage and output force, the relationship between voltage and output displacement,the relationship between actuation voltage and output curvature. Especially the relationshipbetween the actuation voltage and the output curvature is the method of solving the problemof inaccuracy measuring the large deformation of ICPF by the laser sensor. We draw thediagram of these relationships to analysis the properties of ICPF. We studied the ICPF sensing characteristics too, obtained relationship between ICPF viberating speed and themaximum output voltage through experiments, and the relationship between ICPF viberatingof maximum displacement and output voltage.
Base on experiments and properties study of the ICPF, this dissertation presents areal-time control-oriented actuation model for ICPF, which describe the relationship betweeninput voltage and output bending moment and curvature. Then ICPF control system isdesigned according to the actuation model. Compared with other ICPF model, this model hasmany advantages such as short structure, easy calculation, real-time and can be applied to fishfin control because it is intended to the application of micro robot fish without the pursuit ofcompleted physical explanation.
Secondly, based on the analysis of ICPF properties and control model, a kind of microrobot fish is studied, the contents is as followd:
The fish moment track parameters are obtaind after exploring the biological basis of asmall fish, analysing the movement and force condition of small fish, sxtracting the skeletonof fish image, combining the lease squares method and the slender body theory of Lighthill,
According to the properties and model of ICPF and analysis of the movement of fish andforce acting on the small fish, a micro robot fish is designed which can move in threedimention in water aotonomously. The performance of the mciro robot fish is verified througha series of experiment.
At the end, the propulsion model of the micro robot fish about the relationship betweenthe control signal and swimming speed are studied. To improve swimming speed andefficiency of the micro robot fish, a method of applying multiple segments of ICPF actuator tofit the tail trajectory and a new stucture of fin stick tail are applied.
首先，论文在ICPF的基础研究中对ICPF的形态特征、驱动特性和传感特性进行了深入的研究和分析。通过实验重点研究了驱动电压与输出曲率的关系、ICPF的驱动电压与输出力的关系、驱动电压与输出位移的关系等。特别是建立了输出曲率与输入电压的关系，解决了以往ICPF大形变时采用激光位移传感器测量输出不准确的问题，通过曲率来精确测量ICPF的输出。对于ICPF的传感特性，通过实验获得了ICPF摆动的最大速度与输出电压的关系的曲线。还对ICPF的热力学效率进行了分析，提出了提高热力学效率的方法。
在ICPF特性研究的基础上，本文提出了一种可用于微型机器鱼实时控制的ICPF的驱动模型。模型包括电模型、电机械耦合模型以及机械悬臂梁模型三部分。电模型是结合电荷与输入电压的映射关系以及ICPF的等效电路，描述ICPF非线性电容上的电压输入与电荷输出的关系。电机械耦合模型是将电荷在ICPF中的运动带动ICPF局部结构运动，转化为ICPF内部应力的过程。机械悬臂梁模型是将内部应力转换为外部弯曲力矩和弯曲曲率的问题。该模型明确给出了输入电压与输出电荷之间的映射关系并适合用于实时控制。
随后，开展了ICPF驱动的仿生微型机器鱼的研究、推进模型研究以及提高推进效率的研究，主要研究内容包括：
参考自然界小鱼的生物学特征，根据ICPF材料的特性、模型和小型鱼类运动和受力的特点，设计了长度在10cm以下的、能够三维游动、速度更快的微型机器鱼。采用ICPF作为微型机器鱼的尾鳍和胸鳍驱动器来实现微型机器鱼的各种运动模式。通过一系列实验，对设计的微型机器鱼的相关性能进行验证。
提出了微型机器鱼的尾鳍推进模型来描述控制电压信号与机器鱼巡航速度的关系。通过解ICPF的欧拉-贝努利悬臂梁4阶偏微分方程，采用模态分析法推导出ICPF尾鳍形状与输入电压之间的传递函数。模型结合了尾鳍与水的相互作用，最终推导出ICPF的输入电压与机器鱼巡航速度的关系。实验证明该尾鳍推进模型能够很好地预测在不同频率驱动电压作用下微型机器鱼的巡航速度，该模型可以用于指导微型机器鱼的设计。
为了提高微型机器鱼的续航能力，我们重点研究了微型机器鱼的效率优化。提出采用多段ICPF推进器拟合鱼的尾部摆动轨迹来提高推进效率的方法，并通过仿真验证了方法的可行性。我们还优化了尾鳍被动鳍的形状，采用的鳍条结构的尾鳍来提高微型机器鱼的效率，有助于尾鳍形成更好的涡流来提高微型机器鱼的推进性能，使得微型机器鱼的游速有较大提高。
总之，以上的研究证明ICPF是微型机器鱼驱动的理想材料，好的控制方法可以使其在微型机器鱼的尾鳍驱动方面取得良好的效果。
A biomimetic micro robot fish as a type of biomimetic robot fish plays irreplaceable rolein robot fish. ICPF (Ionic Conducting Polymer Film) has the advantages of low actuationvoltage, high efficiency.It can swing like fish tail under alternating voltage actuation, so it issuitable to be tail fin of micro robot fish. ICPF is light in weight and simple in structure. It iseasy to miniature too. A micro biomimetic robot fish actuated by ICPF can work at3Vvoltage, which is in size, light in weight and is difficult to detecte. This is incomparable toother non-motor actuators. Micro robot fish actuated by ICPF has important applications inthe field of military and civilian for example longterm underwater latent work. The microrobot fish can be used in ships, boats and nuclear power stations and other equipment with asmall pipe dredging. It can also be used for medical treatment, such as the gut, screening,treatment of vascular disease. Mechanical properties, electirc properties and modeling ofICPF as actuator of biomimetic fish are not perfect, so it is necessary to study it deeply.
The purpose of this paper is to study a micro robot fish actuated by ICPF. Because of itsunique mechanical and electronic transfer characteristics, ICPF can be used as both actuatorsand sensors, so it is usually called smart materials. ICPF is taken as the material of microrobot fish actuator after deeply analyzing the properties of it. On the basis of analyzing themotion characteristics of small fish and the force acting on small fish, we designed a threedimensional swimming automaus biomimetic micro robot fish actuated by the ICPF. Themicro robot fish in the water can carry out cruising straight, turn, ascent, descent, burst andmany other moments. ICPF act as the tail fin and the pectoral fin actuator in the micro robotfish. This dissertation mainly includes two parts: the first part is to study the properties ofICPF and to establish a real time control-oriented actuation model for ICPF, and the secondpart is about the ICPF actuated biomimetic micro robot fish.
Firstly, ICPF actuting properties and sensing properties are studied deeply. ICPFactuation properties include: electrical properties, mechanical to electrical properties andmechanical properties. Especially, experiment study focus on the relationship between ICPFactuation voltage and output force, the relationship between voltage and output displacement,the relationship between actuation voltage and output curvature. Especially the relationshipbetween the actuation voltage and the output curvature is the method of solving the problemof inaccuracy measuring the large deformation of ICPF by the laser sensor. We draw thediagram of these relationships to analysis the properties of ICPF. We studied the ICPF sensing characteristics too, obtained relationship between ICPF viberating speed and themaximum output voltage through experiments, and the relationship between ICPF viberatingof maximum displacement and output voltage.
Base on experiments and properties study of the ICPF, this dissertation presents areal-time control-oriented actuation model for ICPF, which describe the relationship betweeninput voltage and output bending moment and curvature. Then ICPF control system isdesigned according to the actuation model. Compared with other ICPF model, this model hasmany advantages such as short structure, easy calculation, real-time and can be applied to fishfin control because it is intended to the application of micro robot fish without the pursuit ofcompleted physical explanation.
Secondly, based on the analysis of ICPF properties and control model, a kind of microrobot fish is studied, the contents is as followd:
The fish moment track parameters are obtaind after exploring the biological basis of asmall fish, analysing the movement and force condition of small fish, sxtracting the skeletonof fish image, combining the lease squares method and the slender body theory of Lighthill,
According to the properties and model of ICPF and analysis of the movement of fish andforce acting on the small fish, a micro robot fish is designed which can move in threedimention in water aotonomously. The performance of the mciro robot fish is verified througha series of experiment.
At the end, the propulsion model of the micro robot fish about the relationship betweenthe control signal and swimming speed are studied. To improve swimming speed andefficiency of the micro robot fish, a method of applying multiple segments of ICPF actuator tofit the tail trajectory and a new stucture of fin stick tail are applied.
引文
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