Modeling Dynamics of Underwater Vehicles Actuated by Ionic Polymer Metal Composite (IPMC) Actuators
Document Type
Conference Proceeding
Publication Date
3-8-2009
Publication Title
Proceedings of SPIE
Publisher
SPIE
Volume
7287
Abstract
In this paper, a finite element-based dynamic model is developed for a miniature underwater vehicle propelled by Ionic Polymer Metal Composite (IPMC) actuator. The proposed approach describes the electro-mechanical actuation using a large deflection beam model. Hydrodynamic forces including frictional effects are also considered. The hydrodynamic force coefficients are identified based on the results of extensive computational fluid dynamics (CFD) simulations. Experimental results have shown that the proposed model predicts the motion of the vehicle accurately for different actuation signals. The proposed model can lead to the development of an underwater vehicle, which can achieve complex set of maneuvers. It can also contribute to developing both open and closed-loop control algorithms for the robotic vehicles.
Keywords
Actuators; Control theory; Hydrodynamics; Remote submersibles
Disciplines
Controls and Control Theory | Electro-Mechanical Systems | Mechanical Engineering
Language
English
Permissions
Use Find in Your Library, contact the author, or interlibrary loan to garner a copy of the item. Publisher policy does not allow archiving the final published version. If a post-print (author's peer-reviewed manuscript) is allowed and available, or publisher policy changes, the item will be deposited.
Repository Citation
Gutta, S.,
Yim, W.,
Trabia, M.
(2009).
Modeling Dynamics of Underwater Vehicles Actuated by Ionic Polymer Metal Composite (IPMC) Actuators.
Proceedings of SPIE, 7287
SPIE.
Comments
Conference held: San Diego, California, USA | March 08, 2009