Е. Y. Smirnova, D.К. Serov, D. К. Pelmenev, N.P. Korenko, А.Y. Nikulina
2025-04-27
Abstract ▼
Currently, the field of underwater robotics is actively developing to solve applied and research problems. One of the promising areas of underwater robots’ application is the implementation of bioinspired type of swimming. The use of autonomous bioinspired underwater vehicles (BUV) will potentially expand the scope of application of low-noise and safe for local fauna underwater robots for monitoring and exploring the terrain. The aim of the work is to develop and test a methodology for model-based design of a motion control system for biomorphic underwater robots. In this work a typical BUV design with oscillatory type of swimming is considered. Problematic issues of modeling the BUV dynamics, as well as the synthesis of their control systems are described. For BUVs with oscillatory types of swimming, typical technological operations are identified. Typical technological operations are chosen based on the design features of the BUVs and the composition of their propulsion and steering complex. A control system design methodology based on the combined use of numerical modeling technologies and classical automatic control theory is proposed. Based on the proposed methodology, numerical hydrodynamic BUV’s models with oscillatory types of swimming are developed. Identification computational experiments are conducted. The transient processes which characterize BUV’s dynamics during the performance of each typical operation are defined. Based on the simulation results, cybernetic simplified models of BUV’s based on the typical blocks of the automatic control theory are developed. Based on the cybernetic models, based on the numerical optimization a synthesis of BUV’s control system in accordance with the proposed methodology is performed. The developed algorithms are tested based on numerical hydrodynamic simulation results. Possible prospects for the use of the BUV’s are formulated.
