Modeling and Analysis of a Bionic Bladder System Designed for Minitype Underwater Robots

摘要：

Heaving motion is an indispensably function for underwater robots.A bionic bladder system which can realize both heaving and pitching control was designed inspired by biologic fish’s bladder.It was mainly composed of a cylinder and a piston.The dynamic models of the bionic bladder system for heaving and pitching motion were established and based on which a dual-velocity control system was designed.The two control channels became decoupling by setting different control cycles.Simulations with the real design parameters were performed.Results indicated that a good control performance can be achieved by the bionic bladder system with proper control parameters.

作者: Longxin Lin Haijun Xu Haibin Xie Lincheng Shen

作者单位: College of Mechatronics Engineering and Automation,National University of Defense Technology,Changsha,410073,China

会议类型: 国际会议

会议名称: 第一届智能网络与智能系统国际会议(ICINIS 2008)(The First International Conference on Intelligent Networks and Intelligent Systems)

会议地点: 武汉

会议语种:英文

在线出版日期: 2008-11-01（万方平台首次上网日期，不代表论文的发表时间）