Modeling Dynamics of Underwater Vehicles Actuated by Ionic Polymer Metal Composite (IPMC) Actuators
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.
Actuators; Control theory; Hydrodynamics; Remote submersibles
Controls and Control Theory | Electro-Mechanical Systems | Mechanical Engineering
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Modeling Dynamics of Underwater Vehicles Actuated by Ionic Polymer Metal Composite (IPMC) Actuators.
Proceedings of SPIE, 7287