機器魚的設計、製作與控制

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姓名

林修如(Hsiu-ju Lin) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

機器魚的設計、製作與控制
(The design, fabrication, and control of robotic fish)

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摘要(中)

本論文主要設計與實現一部以電磁鐵為致動器的三節式機器魚，搭配 BS2p 控制晶片、紅外線感測器及 RF 無線通訊模組，達到無線遙控與自主導航等功能。機器魚能夠仿照真實魚類的游泳方式在水中游走，除了可達到直線前進、轉彎及上下浮沉等基本動作外，尚具有水中避障的能力。許多文獻中，機器魚使用馬達做為推進動力驅動尾鰭，然而為了固定馬達，必須將魚體外殼進行鑽孔，同時也產生了容易漏水的問題。本作品之機器魚在機構設計上，利用磁力做為動力來源，不但避開了煩人的漏水問題，且能夠遠距離驅動尾鰭而不受密閉外殼的影響。
機器魚的運動方式主要包含兩大模式：模式一為「使用者遙控模式」，使用者可以藉由操控電腦人機介面來控制機器魚的動作，包括直線前進、左右轉彎及上下浮沉等功能；模式二為「自主模式」，機器魚除了可在水中自主遊泳，當遇到水中障礙物時，還能夠自我判斷避開障礙物。另外機器魚還加入了模糊控制器，使得機器魚可以根據障礙物的遠近，適當地調整避障動作，而變得更有智慧。此外，上述兩種模式的切換、魚體前後節的聯繫、機器魚端的訊號接收及電腦端的命令下達，皆依靠 RF 無線通訊模組作為溝通橋樑。

摘要(英)

The goal of this work is to design and implement a three-links robotic fish which is propelled by electromagnet actuators and equipped with microcontrollers (BS2p), infrared sensors and radio frequency modules for wireless remote control and autonomous navigation. The robotic fish is able to imitate a real fish to swim in the water and provides with some basic capabilities, including straight moving forward, turning left/right, descending down and ascending up. Furthermore, the obstacle avoidance also can be achieved in the mean time. In some literatures, the robotic fish is propelled by caudal fin which is driven by motor. To set up a motor firmly, the shell of the robotic fish needs to be drilled several holes. However, the problem of leaking is followed. In mechanism design, the magnetic force provides the motive power that avoids leaking problem indirectly and also propels caudal fin in an appropriate distance without being affected by sealed shell.
There are two control modes for robotic fish. The first one is user-control mode, which remotes fish’s posture by operating human computer interface, including straight moving forward, turning left/right, descending down and ascending up. The second one is autonomous mode. The robotic fish not only swims by itself, but also avoids hitting obstacles in the water by its judgment. Furthermore, because fuzzy controller synthesis is applied to the robotic fish additionally, it is also capable of adjusting swimming postures according to the different distance of obstacles. That makes our robotic fish smarter and more like a real fish.
Moreover, the switch for both modes, the connection between forward part and behind part, the signal receiving from robotic fish and commands from computer rely on radio frequency modules as a communication medium.

關鍵字(中)

★ 電磁鐵
★ 機器魚
★ 避障
★ 模糊控制

關鍵字(英)

★ obstacle avoidance
★ fuzzy control
★ electromagnet
★ Robotic fish

論文目次

致謝 iii
目錄 iv
圖目錄 vi
表目錄 ix
第一章緒論 1
1.1研究背景與動機 1
1.2作品簡介 2
1.3本文架構 2
第二章系統架構與軟硬體實現 3
2.1系統架構 3
2.1.1機器魚端 3
2.1.2電腦端 11
2.2機器魚機構設計與內部硬體配置 12
2.3軟體設計 17
第三章電路設計與控制方法 19
3.1電路設計 19
3.2控制決策 22
3.3模糊控制 28
第四章實驗成果 33
4.1實驗環境簡介 33
4.2基本動作展示 34
4.3進階動作展示 36
4.4加入模糊控制的動作展示 39
第五章結論與未來展望 41
5.1結論 41
5.2未來展望 41
參考文獻 42

參考文獻

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指導教授

王文俊(Wen-june Wang)

審核日期

2010-7-6

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