仿生型自主式水下載具尾鰭行走之穩定性研究

Tail-Walking Stability of a Biomimetic Autonomous Underwater Vehicle

曾嘉慶(Chia-Ching Tseng)

指導教授 ： 郭振華

國立臺灣大學/工學院/工程科學及海洋工程學研究所/碩士(2021年)

https://doi.org/10.6342/NTU202100946

摘要

本文設計及驗證仿生型自主式水下載具(簡稱BAUV)在垂直泳立於水上運動時之質心位置變動控制器。BAUV在出水站立游泳時會受到其擺尾慣性影響而傾斜，本文提出一種移動重塊式質心位置變動控制系統，可以使BAUV調整頭部質心位置，利用質心位置變動影響BAUV在垂直方向運動之穩定性，使載具能在垂直方向站立游泳，以及保持其穩定出水之高度。本文所提出之質心位置變動控制系統是以艏向角為回授的為相位控制系統，探討質心位置變動對BAUV艏向運動造成的影響，並以回授控制移動質心位置，達成BAUV頭部出水直立於水上游泳的目的。本文使用所提出的BAUV垂直運動數學模型測試垂直方向上的艏向追踨系統，並以BAUV在水槽中實驗，以證實此垂直運動的追蹤控制系統之可行性。

關鍵字

自主式水下載具 ； 移動重心 ； 浮體 ； 艏向角控制 ； 振動推進

並列摘要

The study investigates a motion control system for a biomimetic-autonomous underwater vehicle (BAUV) to walk on water by tail fin oscillations and a moving mass. Recoil motions of heading of a BAUV are results of its tail swings. To be vertically walking on water a mathematical model of the BAUV floating in water is developed. By a moving mass mechanism installed on the fish head, a control system for keeping the heading of the BAUV and control the snout position of the BAUV to a certain height above the water is proposed. A mechanism alternates the center of mass of BAUV’s head to counteract the effect of the tail swimming. A closed-loop control that feedbacks the heading angles to move the head mass generates the BAUV walking on water with a constant height. The BAUV mathematical model is used to simulate the heading control system in the vertical direction, furthermore, experiments with a BAUV in the water tank is tested to verify the mathematical model, and to confirm the feasibility of the controller.

並列關鍵字

autonomous underwater vehicles ； moving mass center ； floating body ； heading control ； oscillation propulsion

參考文獻

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