Dynamics modeling and experiments of wave driven robot |
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| Institution: | 1. Department of Engineering Mechanics, Northwestern Polytechnical University, Xi''an 710129, PR China;2. MIIT Key Laboratory of Dynamics and Control of Complex Systems, Northwestern Polytechnical University, Xi''an 710129, PR China;1. Department of Big Data Science, School of Science, Zhejiang University of Science and Technology, Hangzhou 310023, People''s Republic of China;2. College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China;1. College of Mechanical Engineering & Beijing Key Laboratory of electromechanical system measurement and control, Beijing Information Science and Technology University, Beijing 100192, PR China;2. College of Mechanical Engineering, Beijing University of Technology, Beijing 100124, PR China |
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| Abstract: | Wave driven robots (WDRs) take ocean energies as the power sources and are often used for long-term monitoring of the marine environment. The unique multi-body joint structure and special operation mechanism of a WDR make the dynamics modeling problem unusual. The dynamic model of a WDR was put forward by taking the interconnection of forces and motions between the float body (float) and the submerged glider (glider) into account. Numerical simulation of longitudinal motion and the comparison between simulation and tank test of reciprocating steering motion of the "Ocean Rambler" WDR were carried out. The dynamic model proposed in this paper was consistent with the motion characteristics of "Ocean Rambler" WDR. Simulations of PID heading control demonstrated the unique control characteristics of the WDR, which proved the significance of the established dynamic model of the WDR in control algorithm design. |
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