Power Reduction by Controlling Joint Compliances for the Propulsion of a Biomimetic Underwater Vehicle
Date Issued
2007
Date
2007
Author(s)
Yen, Wei-Kuo
DOI
en-US
Abstract
The work describes a compliance control scheme for the caudal joint motion of a biomimetic autonomous underwater vehicle (BAUV). The purpose of the control method is to use the motor power more effectively for propulsion. A symmetric foil executing large-amplitude sway and yaw motions in a flow imitates a flapping tail fin which is used as the propulsive device of BAUV. Motions of the oscillating foil are then actuated by motors through springs. A control method was derived for the determination of the spring compliance for better use of the motors’ driving power. It is verified that the compliance control method can reduce the amount of energy for the propulsion of the foil and is feasible for the future applications for BAUVs.
Key Words: biomimetic, underwater vehicles, compliance control, propulsive efficiency, oscillating foil
Subjects
仿生
水下載具
撓度控制
推進效率
振動翼
biomimetic
underwater vehicles
compliance control
propulsive efficiency
oscillating foil
Type
thesis
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