Buoyancy Control Device Enabled by Reversible Proton Exchange Membrane Fuel Cells for Fine Depth Control

IF 1.7 4区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-03-01 DOI:10.1115/1.4048778

J. Yazji, A. Keow, Hamza Zaidi, Luke Thomas Torres, C. Leroy, Zheng Chen

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引用次数: 5

Abstract

Fine buoyancy control is essential for underwater robots to maintain neutral buoyancy despite dynamic changes in environmental conditions. This paper introduces a novel buoyancy control system that uses reversible fuel cells (RFC) as a mass-to-volume engine to change the underwater robots' buoyancy. The RFC uses both the water electrolysis process and fuel cell reaction to produce and consume gases in a flexible bladder for volume change. Unlike conventional actuators such as motors and pistons used in buoyancy control, this mechanism is silent, compact, and energy-efficient. A dynamic model that described the dynamics of the RFC-enabled buoyancy change is presented. Then, a proportional-derivative (PD) controller is designed to position the device at any depth underwater. A prototype device is built to validate the dynamic model and the performance of the feedback controller. Experimental results demonstrate a fine depth control performance with 4 cm accuracy and 90 s settling time. The compact buoyancy design is readily integrable with small underwater robots for fine depth change allowing the robots to save actuation energy.

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可逆质子交换膜燃料电池的浮力控制装置，用于精细的深度控制

精细的浮力控制是水下机器人在环境条件发生动态变化时保持中性浮力的关键。本文介绍了一种利用可逆性燃料电池(RFC)作为质量体积比发动机来改变水下机器人浮力的新型浮力控制系统。RFC使用水电解过程和燃料电池反应在一个柔性气囊中产生和消耗气体以改变体积。与浮力控制中使用的电机和活塞等传统执行器不同，该机构静音、紧凑、节能。提出了一个动态模型，描述了rfc使浮力变化的动态。然后，设计了一个比例导数(PD)控制器来定位设备在水下的任何深度。建立了一个原型装置，验证了反馈控制器的动态模型和性能。实验结果表明，该系统具有良好的深度控制性能，精度为4 cm，沉降时间为90 s。紧凑的浮力设计易于与小型水下机器人集成，以实现精细的深度变化，从而节省机器人的驱动能量。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme 工程技术-仪器仪表

CiteScore

3.90

自引率

11.80%

发文量

审稿时长

24.0 months

期刊介绍： The Journal of Dynamic Systems, Measurement, and Control publishes theoretical and applied original papers in the traditional areas implied by its name, as well as papers in interdisciplinary areas. Theoretical papers should present new theoretical developments and knowledge for controls of dynamical systems together with clear engineering motivation for the new theory. New theory or results that are only of mathematical interest without a clear engineering motivation or have a cursory relevance only are discouraged. "Application" is understood to include modeling, simulation of realistic systems, and corroboration of theory with emphasis on demonstrated practicality.