Paper Info
Title
A distributed negative power control system for high efficiency swimming of robotic fish.
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.
Year
DOI
Venue
2012
10.1109/INDIN.2012.6301373
INDIN
Keywords
Field
DocType
motor control,robots,marine propulsion,fpga,power control,control systems,control system,propulsive efficiency,field programmable gate arrays
Control theory,Propulsion,Propulsive efficiency,Real-time Control System,Control engineering,Motor control,Artificial intelligence,Engineering,Control system,Robotics,Distributed control system
Conference
ISSN
ISBN
Citations 
1935-4576
978-1-4673-0312-5
0
PageRank 
References 
Authors
0.34
1
4
Name
Order
Citations
PageRank
Dong Xu1202.22
Hongxing Wei210122.41
Tianmiao Wang332268.45
Suibing Zheng401.01