IPMC Propelled Biomimetics Robotic Fish Energy Consumption Model Construction and Its application to Energy-saving Control

摘要：

Energy consumption efficiency is important in the design of the ionic polymer-metal composite (IPMC) propelled biomimetics robotic fish since it concerns about the cruising time in the water. IPMC energy consumption model is pretty critical to help improve it. Based on the physical properties of the IPMC material and the hydrodynamic reactive force theory, the energy consumption and accelerating velocity models are proposed. The model shows its precision by comparing with the experimental data. By embedding in the multi-objective compatible control algorithm, the model is applied to the energy-saving control of the IPMC propelled robotic .sh. The control result shows the validity of the model and control algorithm.

作者: Qingsong Hu Hua Zhou

作者单位: Engineering College,Shanghai Ocean University,201306,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2151-2156

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）