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Information Technology Journal
  Year: 2014 | Volume: 13 | Issue: 3 | Page No.: 529-535
DOI: 10.3923/itj.2014.529.535
 
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Analysis of Balance-control Mechanism for Mini Underwater Vehicle Based on Magic Ball with Metamorphic Characteristics

Zhai Yuyi, Wan Lei and Liu Liang

Abstract:
As the short distance between their centers of gravity and buoyancy, the mini underwater vehicles will become unstable and lose balance attitude easily under external interference which may affect their normal operation. A new balance-control mechanism for mini underwater vehicle is proposed in this study. The study describes the working principle of the balance-control mechanism, introduces the balance control method for rolling and pitching motion and further analyzes the mechanical structure and the metamorphic mechanism characteristics of the ball. The kinematics analysis of the magic ball is given and the relationship between the volume of the magic ball and time is obtained when actuating speed is a constant. The result suggests that the balance-control mechanism which has quick response to external interference can change the local buoyancy of whole underwater vehicle system effectively. The simulation results of rolling motion verify the feasibility of the balancing mechanism which lay the foundation for later research.
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How to cite this article:

Zhai Yuyi, Wan Lei and Liu Liang, 2014. Analysis of Balance-control Mechanism for Mini Underwater Vehicle Based on Magic Ball with Metamorphic Characteristics. Information Technology Journal, 13: 529-535.

DOI: 10.3923/itj.2014.529.535

URL: https://scialert.net/abstract/?doi=itj.2014.529.535

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