Auto-Catalytic Oscillators for Locomotion of Underwater Vehicles
Patent application, filed 14 Sep 2007
NAVAL UNDERSEA WARFARE CENTER DIV NEWPORT RI
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A system is provided to control maneuvering flapping foils of an underwater vehicle. An oscillator generates periodic signals in which effects of external disturbances are minimized or amplified as required the periodic signal can be either sinusoidal or can depart significantly from a sinusoid the amplitude and frequency are varied by changing the oscillator parameters and the phase between the signals are varied by changing the parameters. The oscillator restores the parameters after a disturbance. Since the oscillator functions without external sensors, the oscillator serves as an inner-loop controller with a centralized control. An open loop control architecture for the controller, results in a motion where the vehicle maneuvers execute as force and moment commands. The non-linear, auto-catalytic oscillator can be realized using a variety of second-order differential equations. An oscillator model is added to a conventional motor control, where the outputs of the oscillator control the foils in real-time.
- Electrical and Electronic Equipment
- Submarine Engineering