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Home » Issues » Archive of Issues » 2022 - 4 issue » pp. 644-660

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Russia Izhevsk
Year
2022
Volume
32
Issue
4
Pages
644-660
<<
Section Mechanics
Title Numerical analysis of the periodic controls of an aquatic robot
Author(-s) Vetchanin E.V.a, Mamaev I.S.a
Affiliations Udmurt State Universitya
Abstract A model governing the motion of an aquatic robot with a shell in the form of a symmetrical airfoil NACA0040 is considered. The motion is controlled by periodic oscillations of the rotor. It is numerically shown that for physically admissible values of the control parameters in the phase space of the system, there exists only one limit cycle. The limit cycle that occurs under symmetric control corresponds to the motion of the robot near a straight line. In the case of asymmetric controls, the robot moves near a circle. An algorithm for controlling the course of the robot motion is proposed. This algorithm uses determined limit cycles and transient processes between them.
Keywords motion in a fluid, aquatic robot, control algorithm, limit cycles
UDC 532.3, 517.933
MSC 70E60, 37N35
DOI 10.35634/vm220410
Received 20 October 2022
Language Russian
Citation Vetchanin E.V., Mamaev I.S. Numerical analysis of the periodic controls of an aquatic robot, Vestnik Udmurtskogo Universiteta. Matematika. Mekhanika. Komp'yuternye Nauki, 2022, vol. 32, issue 4, pp. 644-660.
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