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밸러스트 탱크를 이용한 수중로봇의 Roll/Pitch의 자세제어
최성희(Sunghee Choi),도진현(Jinhyung Do),이장명(Jangmyung Lee) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.8
This paper proposes a new method on attitude control of an underwater robot by using five ABTs (Attitude Ballast Tank). A pipe is connected to the bottom of the ABTs and transfers water by a pump, while another pipe is connected to the top of the ABT to transfer air. The buoyancy center of the underwater robot can be changed by means of the water transfer. This way, the attitude of the underwater robot can be maintained and/or controlled as desired. The changes of the center of gravity and the buoyancy central are estimated by a Lagrangian function which is similar to that for an inverted pendulum. The controller in this paper is designed by modeling of the underwater robot and selecting suitable gains of a PD controller which has fast response characteristics. This paper shows the possibility of the attitude control of an underwater robot by changing the center of gravity and the buoyancy center of the robot. Moreover, experimental results verify that the controller is effective in maintaining Roll/Pitch of the underwater robot with very low power consumption.