Xie Haibin

Flight Path Planning Based on an Improved Genetic Algorithm

Flight path planning for UAV is a complicated optimization problem with multiple constrains. In this paper, an improved dual-population genetic algorithm (IDPGA) is proposed. It uses an additional population to maintain population diversity of genetic algorithm (GA). The two populations have different evolutionary objectives and thus use different fitness functions. Generating offspring of each population is performed by randomly generating new individuals, inbreeding between individuals in the same population and crossbreeding between individuals from different populations. The next generation is produced by selecting the best ones from current populations and offspring. Besides, in order to improve the convergence performance of the algorithm, the initial populations are generated based on multiple constraints. The experimental results show that IDPGA improves the global search and local search capabilities for GA to ensure the global optima of the flight path.

Control system design and simulation for bionic undulating fin

Bionic undulating fin is a new bionic underwater propulsor based on propulsive mode of undulating fin which has high propulsive efficiency, maneuverability and stability. The structure and locomotive model of the bionic undulating fin system were analyzed, and a control system which fits several undulating modes was put forward in this paper. Locomotion simulation was done based on the Matlab/Simulink model. Results indicate that the control system can response to multiple undulating modes and locomotive parameters accurately, thus gets the desired waves.

Design and realization of simulation system of bionic underwater vehicle

A simulation system was established in the Matlab/Simulink environment based on the bionic underwater vehicle propelled by multiple undulating fins. It was composed of motion and attitude controller and plant model including 6DOF rigid body kinetic model, carrierpsilas hydrodynamic model, and multiple undulating finspsila hydrodynamic model. All parts of the simulation system were designed in detailed, and a layered control system was put forward. Finally, the performance of the control channels for speed, depth and yawing were simulated in terms of the real design parameters and hydrodynamic coefficients. Results show that the simulation system has important significance to research on the dynamic of the bionic underwater vehicle and verify the design of control system.

Research on Test Platform of Hydrodynamic Force Produced by Undulation of the Long Flexible Fin

This paper studies the technical scheme to construct the test platform of hydrodynamic force produced by undulation of the long flexible fin, which will be an aided tool of studying dynamics of the long flexible fin undulatory propulsion belonging to fish MPF (median and/or pair fin) propulsion mode. Firstly, the architectural structure of test platform is determined according to the functional requirements, then, we design and realize the bionic device of the long flexible fin as a tested model and the measurement system of hydrodynamic force capable of measuring 6 DOF forces and motion parameters. The test platform utilizes the bionic device to imitate diversified undulatory movement modes of bionic object, uses the measurement system to obtain the hydrodynamic force and moment under the static and dynamic condition, and realizes remote operation through the measurement and control system. The test platform will be an important platform used to mechanism and control research of the long flexible fin undultory propulsion.