スラスタの動特性を考慮した中立浮力式水中アームの位置決め制御

概要

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For a small underwater robot floating in water, arm positioning requires cooperation between arm actuators and thrusters installed on the body for mobility and attitude control, because the robot can be moved by fluid drag force and inertial force acting on the arm. The body of an underwater robot is approximately spherical. The thrusters require high power due to weak resistance to body rotation, and rapid positioning also requirs high power. When the thrusters become powerful, the dynamics cannot be ignored. In this study, the thruster dymanics is investigated, a thruster model is proposed, and the arm positioning system of the underwater robot floating in water is developed based on the optimal control theory considering the thruster dynamics. Then a linearization method appropriate to the optimal control is examined by computer simulations. The performance of the developed control system is confirmed with the experimental models.
一般社団法人日本機械学会の論文
1995-11-25