Modeling and Control of a Bio-Inspired Underwater Vessel with Undulating-Fin Propulsion
Modeling and Control of a Bio-Inspired Underwater Vessel with Undulating-Fin Propulsion
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DOI：
10.1109/oceans.2018.8604543
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发表时间：
2018-10
期刊：
影响因子：
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通讯作者：
M. Irfan Uddin;O. Curet
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文献类型：
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作者：
M. Irfan Uddin;O. Curet
波状鳍推进装置使用细长的薄膜产生推力，可以增强水下船舶的机动性和位置保持能力。使用这种类型的推进力的鱼能够在多个方向上机动，包括向前、向后、快速反向、向上、向前侧向和保持位置。尽管有这种潜力，但使用波状鳍推进来控制水下船舶的六自由度仍然难以实现，部分原因是缺乏允许研究自由游泳条件下动力学的平台。在这项工作中，我们提出了一个独立的物理模型，配备了仿生鳍式推进装置。推进机构是沿着机器人长度延伸的单个波状鳍，它控制向前运动和方向操纵。除了估计力、扭矩和运动控制的建模框架之外，我们还介绍了船舶的水动力特性。第一步，我们重点关注喘振、摇摆和偏航的控制。
Undulating-fin propulsion, where an elongated membrane is used to generate thrust, can enhance the mobility and station keeping capabilities of underwater vessels. Fish using this type of propulsion are able to maneuver in multiple directions including forward, backward, rapid reverse, upward, forward-lateral and station-keeping. Despite this potential, the use of undulating fin propulsion to control the six-degree of freedom of an underwater vessel has remained elusive, in part due to the lack of platform that allows studying the dynamics in free-swimming conditions. In this work, we present a self-contained physical model equipped with a bio-inspired fin-based propulsion. The propulsive mechanism is a single undulating fin running along the length of the robot, which controls both forward motion and directional maneuvers. We present a hydrodynamic characterization of the vessel in addition to a modeling framework to estimate forces, torques and motion control. As first step, we focus on the control for surge, sway and yaw.