Dynamics Modeling and Simulation of a Bionic Swim Bladder System in Underwater Robotics

Abstract

While considering that fish could suspend themselves under water and could enhance their mobility by adjusting its swim bladder, we have carried out research on a bionic swim bladder system in underwater robotics, which could amend the underwater robotics' static balance and controllability conditions even if the depth of water changes. First, this paper introduces the bio-swim bladder's structure and function. Second, it works out the dynamic model of the bionic swim bladder, and then it analyses the dynamic characteristic and effect of the bionic swim bladder system with the software Matlab/simulink. Finally, considering about the nonlinear relationship of the parameters in the model, this paper brings forward a dual-speed control method, which could make the effect of the bionic swim bladder non-coupling. The result of the simulation reveals that the bionic swim bladder could change the buoyancy and centroid distribution of the underwater robotics effectively and independently, bringing it into a balance state, under which the control and maneuverability could be enhanced.