Dynamic modeling and anti-roll design of an autonomous,small-scaled module for height control in deep sea
Deep-sea intelligent equipment is crucial in deep-sea scientific research,national defense and security,and other fields.Owing to the extreme hydrostatic pressure in the deep sea,the manipulation and attitude control of deep-sea robots remain challenging tasks.In this paper,we design an autonomous height-control module which can operate at a depth of 3000 m.To adapt to the extreme hydrotatic pressure,the electronics and circuits are integrated in a silicone matrix.What's more,an electromagnetic-driven,dorsal fin made of PET materials is employed to drive and achieve dynamic height control.We analyze the roll phenomenon of this machine using a high-speed camera and dynamic modeling analyses.In addition,the roll and maneuverability of this module are optimized by integrating a pair of pectoral fins with well designed shape.Finally,the feasibility of the height-control design is verified through high-pressure experiments.This small-scaled and lightweight height-control module can be easily integrated into deep-sea equipment and robots,which can offer a novel method for the attitude control of miniaturized deep-sea robots.
万方数据
维普
