Position Control of Flexible Rotating Arm in Water Considering Thruster Dynamics.

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  • スラスタの動特性を考慮した水中回転弾性アームの位置決め制御
  • スラスタ ノ ドウトクセイ オ コウリョシタ スイチュウ カイテン ダンセイ

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In an underwater robot, the maximum stress at the end of the manipulator clamped with the shaft can be suppressed by using a thruster instead of a DC motor. Therefore, the thruster must be powerful enough for speedy positioning. As the thruster becomes more powerful, consideration of its dynamics becomes more important to achieve accurate positioning. In this study, a thruster model considering its dynamics is derived and a method to identify its parametes is proposed. The advantage of this method is that measurement of the screw speed is unnecessary. A positioning system for the underwater flexible rotating arm with a thruster is developed using the optimal control theory. Then, an underwater arm system is fabricated and control experiments are carried out. As a result, the control system without consideration of thruster dynamics cannot position the arm, but the system with consideration of the thruster dynamics can position it for about l second.

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