Basic Research on Monitoring System of Environment in Coastal Waters by Autonomous Underwater Robots

自主水下机器人近岸海域环境监测系统基础研究

• 批准号: 13650976
• 负责人: KATO Naomi
• 金额: $ 2.3万
• 依托单位: TOKAI UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650976/
• 关键词: mechanical pectoral fin; optimization; lift-based mode; drag-based mode; fuzzy control; PTP control; roll control; underwater robot; 胸ひれ運動装置; 波浪; ファジイ制御; ホバリング; 外乱

This research has been carried out to establish 1) guidance and control system of autonomous underwater vehicles (AUVs) in coastal waters and 2) design of configuration of AUVs in coastal waters for the purpose of development of global monitoring system of environment in coastal area by AUVs. This research deals with an autonomous underwater vehicle equipped with mechanical pectoral fins that has a high performance of attitude control under disturbances like water currents and surface waves in coastal waves.In the first year of this program, the optimization of the fin motion in terms of optimal control force generation was carried out using a mechanical fin system generating flapping motion, feathering motion and rowing motion. Kinematic studies indicate that pectoral fin motion of fish consists of drag-based mode at low speed and lift-based mode at high speed. The optimization found out that the lift-based rather than the drag-based swimming mode is suitable for generation of propuls … More ive force in uniform flow, while the drag-based rather than the lift-based swimming mode is suitable for generation of propulsive force in still water.In the second year of this program, the underwater vehicle equipped with two pairs of mechanical pectoral fins "PLATYPUS" was developed to assess the swimming performance and the control performance. We found that it has not only quite a good propulsive performance, showing the maximum speed of 0.64 m/s with lift-based swimming mode, but also a variety of maneuverability in hovering condition such as turning, descending and ascending, and lateral swimming. The task sharing by fore and aft pairs of mechanical pectoral fins enables a precise Point To Point control in 3-D underwater space that needs simultaneous performance of azimuth control, position control in horizontal plane and depth control. The drag-based swimming mode of the mechanical pectoral fin rather than the lift-based swimming mode is suitable for the motion control of the underwater vehicle that needs a prompt response under disturbances such as waves. Less

本研究的主要目的是：（1）建立近海沃茨自主水下航行器（AUV）的制导与控制系统;（2）设计近海沃茨AUV的总体布局，以实现利用AUV对近海环境的全球监测。本研究以在水流、海浪等干扰下具有高姿态控制性能的机械胸鳍为研究对象，在第一年中，利用产生扑动、顺桨和划动的机械胸鳍系统，对胸鳍运动进行了最优控制力生成的优化。运动学研究表明，鱼类胸鳍的运动由低速时的阻力模式和高速时的升力模式组成。优化发现，基于升力而不是基于阻力的游泳模式更适合于产生推进力 ...更多信息 在均匀流中产生推进力，而基于阻力而不是基于升力的游泳模式适合于在静水中产生推进力。在本计划的第二年，开发了配备两对机械胸鳍的水下机器人“PLATYPUS”，以评估其游泳性能和控制性能。结果表明，该机器人不仅具有良好的推进性能，在升力模式下的最大速度为0.64 m/s，而且在悬停状态下具有转弯、下降、上升和侧游等多种机动性。通过前后成对的机械胸鳍分担任务，实现了三维水下空间中精确的点对点控制，该控制需要同时执行方位控制、水平面位置控制和深度控制。机械胸鳍的基于阻力的游动模式比基于升力的游动模式更适合于在波浪等扰动下需要快速响应的水下机器人的运动控制。少

项目成果

Kato, N., Liu, H. and Morikawa, H.: "Biology-Inspired Precision Maneuvering Underwater Vehicles"Proc. of Techno-Ocean 2002. (2002)

Kato, N.、Liu, H. 和 Morikawa, H.：“受生物学启发的精确机动水下航行器”Proc。

Kato, N., H., Liu, H.Morikawa: "Biology-Inspired Precision Maneuvering of Underwater Vehicles"Proc. of 12th International Offshore and Polar Engineering Conference (ISOPE). 2. 269-276 (2002)

Kato, N., H., Liu, H.Morikawa：“受生物学启发的水下航行器精确操纵”Proc。

加藤 直三: "魚の胸ひれを持った水中ロボット"日本機械学会2002年度年次大会、ワークショップ「水中ロボティクス」. 440-441 (2002)

Naomi Kato：“带鱼胸鳍的水下机器人”日本机械工程师学会 2002 年年会，研讨会“水下机器人”440-441 (2002)。

Kato, N., Liu, H. and Morikawa, H.: "Experimental Assessment of Hydrodynamics of a Mechanical Pectoral Fin"Proc. of 4^<th> World Congress of Biomechanics. (2002)

Kato, N.、Liu, H. 和 Morikawa, H.：“机械胸鳍流体动力学的实验评估”Proc。

Liu, H., Kato, N. and Morikawa, H.: "Hydrodynamics of a Flapping Fin with Interaction of a Body"Proc. of 4^<th> World Congress of Biomechanics. (2002)

Liu, H.、Kato, N. 和 Morikawa, H.：“扑翼鳍与物体相互作用的流体动力学”Proc。