• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Ocean Engineering >Conceptual design of a hybrid propulsion underwater robotic vehicle with different propulsion systems for ocean observations
【24h】

Conceptual design of a hybrid propulsion underwater robotic vehicle with different propulsion systems for ocean observations

机译：海洋观测不同推进系统的混合推进水下机器人车辆的概念设计

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

The proposed design named as the hybrid propulsion underwater robotic vehicle (HPURV) is a novel underwater vehicle with a hybridized propulsion for minimum energy consumption in ocean observations. This development is aimed at the comparison of different types of propulsion techniques in both vertical and horizontal directions of the motion to choose an optimum strategy for propulsion. The horizontal motion is achieved using the bio-inspired method of fish propulsion using caudal fin or a pair of pectoral fins or both. The tail design is made modular such that the caudal fin can be replaced by a conventional miniature thruster to understand the performance characteristics of the vehicle under similar operating conditions. The diving/climbing, pitching and rolling motions are achieved using three different mechanisms for, viz., (1) pitch and dive using pectoral fins, (2) pitch and dive by varying buoyancy of the vehicle and (3) pitch, dive, and roll by using a moving mass and a rolling mass mechanisms, respectively. All these mechanisms are assembled in the same vehicle and controlled independently or using a combination of two or more different mechanisms for the performance comparison of the vehicle in similar operating conditions. This paper also presents a dynamic model of the HPURV and a motion control scheme using a conventional Proportional-Derivative (PD) control technique to track a given complex spatial trajectory.
机译：所提出的设计名为混合推进水下机器人车辆（HPURV）是一种新型水下车辆，具有杂交推进，用于海洋观测中的最小能耗。该开发旨在比较运动中垂直和水平方向的不同类型的推进技术，为推进的最佳策略选择。使用尾鳍或一对胸鳍或两者的生物启动方法实现水平运动。尾部设计是模块化的，使得尾鳍可以通过传统的微型推进器代替，以了解在类似的操作条件下车辆的性能特征。使用viz的三种不同机制来实现潜水/攀爬，俯仰和滚动运动，使用胸鳍，（2）通过不同的浮力和（3）间距，潜水，潜水，潜水并分别使用移动质量和轧制质量机制滚动。所有这些机构在同一车辆中组装并独立地或使用两个或更多个不同机制的组合来控制，以便在类似的操作条件下的性能比较。本文还提供了使用传统的比例衍生物（PD）控制技术的HPURV和运动控制方案的动态模型，以跟踪给定的复杂空间轨迹。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号