Abstract
The present work tackles the modeling of the motion dynamics of an object submerged in a non-Newtonian environment. The mathematical model is developed starting from already known Newtonian interactions between the submersible and the fluid. The obtained model is therefore altered through optimization techniques to describe non-Newtonian interactions on the motion of the vehicle by using real-life data regarding non-Newtonian influences on submerged thrusting. For the obtained non-Newtonian fractional order process model, a fractional order control approach is employed to sway the submerged object’s position inside the viscoelastic environment. The presented modeling and control methodologies are solidified by real-life experimental data used to validate the veracity of the presented concepts. The robustness of the control strategy is experimentally validated on both Newtonian and non-Newtonian environments.
Highlights
Non-Newtonian fluid dynamics properties are encountered in multiple fields such as physics, medicine, biology, and industrial manufacturing
This paper provides the tuning of a fractional order controller with the purpose of navigating and stationing at the desired position in a non-Newtonian blood environment, which can be associated with blood
The challenges encountered by a substance carrier device inside the cardiovascular environment with the purpose of targeted drug delivery are recreated inside the custom built platform
Summary
Non-Newtonian fluid dynamics properties are encountered in multiple fields such as physics, medicine, biology, and industrial manufacturing. Several steel manufacturing techniques require the motion of particles inside the non-Newtonian steel framework stirred through electromagnetic actuation [1] Another application of significant relevance is the rising domain of targeted drug delivery. The focus of the present study is the development and experimental validation of a fractional order model that captures the interaction between a non-Newtonian environment and a submerged object. The model is calibrated on experimental data acquired from a custom built platform that mimics non-Newtonian conditions inside the cardiovascular framework, obtaining a generalized fractional order model.
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