Dynamic Modeling and Control of a Parallel Mechanism Used in the Propulsion System of a Biomimetic Underwater Vehicle

Applied Sciences

JuanAntonio Algarín-Pinto¹  LuisE. Garza-Castañón¹  Adriana Vargas-Martínez¹  LuisI. Minchala-Ávila² 

[1] School of Engineering and Sciences, Tecnologico de Monterrey, Eugenio Garza Sada 2501, Monterrey 64849, Mexico;School of Engineering and Sciences, Tecnologico de Monterrey-Guadalajara, Gral. Ramón Corona 2514, Guadalajara 45138, Mexico;

关键词: adaptive control;    biomimetic autonomous underwater vehicle (BAUV);    dynamic modelling;    feedforward plus feedback controllers;    fuzzy logic;    parallel mechanism;   

DOI  :  10.3390/app11114909

来源: DOAJ

【 摘 要 】

Incorporation of parallel mechanisms inside propulsion systems in biomimetic autonomous underwater vehicles (BAUVs) is a novel approach for motion generation. The vehicle to which the studied propulsion system is implemented presents thunniform locomotion, and its thrust depends mainly on the oscillation from its caudal fin. This paper describes the kinematic and dynamic modeling of a 3-DOF spherical 3UCU-1S parallel robotic system to which the caudal fin of a BAUV is attached. Lagrange formalism was employed for inverse dynamic modeling, and its derivation is detailed throughout this paper. Additionally, the implementation of control strategies to compute forces required to actuate limbs to change platform’s flapping frequencies was developed. Four controllers: classic PD, a feedforward plus feedback PD, an adaptive Fuzzy-PD, and a feedforward plus Fuzzy-PD were compared in different simulations. Results showed that augmenting oscillating frequencies (from 0.5 to 5 Hz) increased the complexity of the path tracking task, where the classic control strategy (i.e., PD) was not sufficient, reaching percentage errors above 9%. Control strategies using feedforward terms combined with adaptive feedback techniques reduced tracking error below 2% even during the presence of external disturbances.

【 授权许可】

Unknown