基于本体感觉观测器的水下柔性变形翼气流估计与扰动抑制
Gust Estimation and Rejection with a Disturbance Observer for Proprioceptive Underwater Soft Morphing Wings
AI总结：
本研究提出了一种基于本体感觉观测器的柔性变形翼，通过本体感觉传感和扰动观测器实现水下环境扰动的估计与抑制，提高软水下车辆的稳定性和操控性。
摘要：
无人水下车辆日益被用于海上维护和勘测任务，但其在浅水中的操作常受到水动力扰动如波浪、洋流和湍流的阻碍。这些不稳定的流体可以引起方向和速度的快速变化，影响车辆的稳定性和操控性。海洋生物通过结合本体感觉反馈与可变形的鳍和尾来抑制此类扰动。受此策略启发，我们提出了一种具有本体感觉传感的柔性变形翼，以减轻环境扰动。翼的连续变形提供了一种自然的方法来推断动态扰动：突然的弯度变化直接反映来流的变化。通过解释这种本体感觉信号，扰动观测器可以实时重建流参数。为此，我们开发并实验验证了液压驱动的可变形软翼的动态模型，具有可控的弯度。然后我们展示，基于曲率的传感能够准确估计攻角的扰动。最后，我们证明了利用这些本体感觉估计的控制器可以抑制软翼升力响应中的扰动。通过结合本体感觉传感与扰动观测器，这种技术模仿了生物策略，并为软水下车辆在危险环境中保持稳定性提供了途径。
英文摘要：
Unmanned underwater vehicles are increasingly employed for maintenance and surveying tasks at sea, but their operation in shallow waters is often hindered by hydrodynamic disturbances such as waves, currents, and turbulence. These unsteady flows can induce rapid changes in direction and speed, compromising vehicle stability and manoeuvrability. Marine organisms contend with such conditions by combining proprioceptive feedback with flexible fins and tails to reject disturbances. Inspired by this strategy, we propose soft morphing wings endowed with proprioceptive sensing to mitigate environmental perturbations. The wing's continuous deformation provides a natural means to infer dynamic disturbances: sudden changes in camber directly reflect variations in the oncoming flow. By interpreting this proprioceptive signal, a disturbance observer can reconstruct flow parameters in real time. To enable this, we develop and experimentally validate a dynamic model of a hydraulically actuated soft wing with controllable camber. We then show that curvature-based sensing allows accurate estimation of disturbances in the angle of attack. Finally, we demonstrate that a controller leveraging these proprioceptive estimates can reject disturbances in the lift response of the soft wing. By combining proprioceptive sensing with a disturbance observer, this technique mirrors biological strategies and provides a pathway for soft underwater vehicles to maintain stability in hazardous environments.
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