УПРАВЛЕНИЕ ПЛАВАНИЕМ КОМПОЗИТНОГО ЭЛЕКТРОМЕХАНИЧЕСКОГО МИКРОРОБОТА

Abstract

Relevance Currently, underwater robotics is one of the most important areas of development of robotic complexes. Their foundation and control are based on an electromechanical basis. The creation and research of electromechanical systems are one of the promising areas of development of electromechanics and electrical engineering. Equipped with a wide range of sensors, unmanned underwater vehicles are widely used to solve tasks such as studying the seabed relief, monitoring and servicing oil and gas pipelines and cable lines, collecting biological and geological samples of liquids, developing offshore oil and gas fields, conducting underwater rescue operations. The increasing popularity of such devices is explained by the fact that the use of manned vehicles can be very dangerous for the life of the pilots themselves and incur high costs during their operation. Research conducted by various engineering groups in the field of modeling and control of underwater robots is ultimately aimed at achieving full automation of processes. Achieving this aim seems to be an extremely difficult task, since it requires knowledge and understanding of a large volume of theoretical and practical problems that are subject to comprehensive research. Aim of research To carry out theoretical calculations on the study of electromechanical and mechanical parameters of underwater robot control and compare them with experimental data. Research methods The theory of electromechanical energy conversion and control of electrical equipment, methods of mathematical and physical modeling were used in the work. Results The results of constructing an algorithm and a mathematical model of the device of an electromechanical composite robot are presented. A system of equations of mechanics and electrodynamics was used to describe its power characteristics. By solving this system of equations, a theoretical analysis of the operation of its engine was carried out. With the help of the mechatronic approach, its swimming and coordination of its functional modules are studied. The results of this article will be useful for engineers involved in the design and operation of robots using robotic systems in the fields of biotechnology and biomechanics.