Auto-catalytic oscillators for locomotion of underwater vehicles
US7869910B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 14, 2007 |
| Grant date | Jan 11, 2011 |
| Priority date | — |
| Expiry date | Oct 1, 2029 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB63H21/213
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.