Title

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

Comments

Conference held: San Diego, California, USA | March 08, 2009

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.

Identifier

http://dx.doi.org/10.1117/12.815399

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