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RISS 인기검색어
- 검색키워드
- 저자 : VO TUONG QUAN (검색결과 1 건)
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VO TUONG QUAN University of Ulsan 2010 국내박사
In the past, most of underwater robot researches are focus on ROVs (Remotely Operated Vehicles), AUVs (Autonomous Underwater Vehicles), UUVs (Unmanned Underwater Vehicles) or underwater manipulator, and etc. Nowadays, underwater robot research field are mostly concerned on the biomimetic underwater robot. One of the most favorite robots is fish robot. Fish robot, which is a new type of underwater biomimetic robot, has attracted great attention because of its silence in moving, flexible in moving and energy efficiency compared to the conventional propeller-oriented propulsive mechanism. Firstly, the purpose of this paper is the study on the mechanical structure of a 3-joint Carangiform fish robot. The dynamic system of this robot is analyzed in two cases of concept. The first concept is that the anterior part (head and body) of fish robot is supposed to be a rigid body and does not move in the dynamic analyzing process. The second concept is that the anterior part of fish robot is supposed to move or undulate in the dynamic analyzing process. Besides, the influences of fluid are also discussed in the fish robot’s dynamic. Secondly, based on the dynamic system of fish robot, its maximum straight velocity is optimized by the combination of Genetic Algorithm (GA) and Hill Climbing Algorithm (HCA). Then, the optimization by GA-HCA is also used to find the control parameters that can make fish robot swim with a smooth motion or smooth gait like a real fish. Lastly, some controllers such as: Hebbian Neural Network PID (HNNPID), Fuzzy PID (FPID), conventional PID, Sliding Mode Controller (SMC) and Fuzzy Sliding Mode Controller (FSMC) are designed in direction control of fish robot. There are two kinds of direction control problem are concerned. They are the tracking control along straight path and the tracking control for turning motion. In theses controllers, the strong point or the effectiveness of the HNNPID controller and FSMC are proved to be stronger than other controllers in direction control of fish robot. The simulation results are carried out by Matlab program. And, some primitive experiments are implemented to check the operation of our fish robot.
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