Research On Attitude Control Of Remotely Controlled Underwater Robot Based On Multi-motor Cooperative Propulsion

The ocean is rich in resources such as oil,natural gas,and minerals.ROV(Remote Operated Vehicle)is an excellent tool for ocean exploration and development.ROV with excellent research performance has always been the goal that countries all over the world spare no effort to pursue.Based on the self-developed remotely controlled underwater operation ROV,this thesis has carried out research on the development of ROV multi-motor system cooperative control,motion attitude controller and ROV experimental system.First of all,this article analyzes the research status and development trend of underwater ROV,multi-motor cooperative control system and attitude control system at home and abroad,and according to the technical requirements of the ROV project studied in this article,the overall scheme of underwater operation ROV is designed.Then,the research focuses on new methods of ROV multi-motor control and attitude control for remotely operated underwater operations.For the multi-motor system structure,this thesis improves the traditional parallel structure of ROV,and proposes a new deviation coupling structure based on PID speed compensator to improve the anti-interference performance of multi-motor cooperative control;for single-motor speed control algorithm,it is proposed A new type of non-singular terminal sliding mode control algorithm is proposed to improve the rapid response performance and stability of single-motor systems to improve the performance of multi-motor systems.For the ROV attitude control system,this thesis establishes the kinematics and dynamics models of the ROV for remotely operated underwater operations,then conducts hydrodynamic analysis,decouples and simplifies the ROV dynamics model,and finally designs a sliding mode attitude controller to solve the ocean current interference and model Uncertainty issues.In addition,a novel ROV attitude control method for remotely operated underwater operations based on multi-motor cooperative propulsion is designed to solve the problem of thruster interference.In order to verify the new structure,new algorithm,sliding mode attitude controller and novel attitude control method proposed in this thesis,Matlab simulation was carried out in this thesis.The reliability and effectiveness of the singular terminal sliding mode control algorithm,the sliding mode attitude controller and the ROV attitude control method for remotely operated underwater operations based on multi-motor cooperative propulsion;Secondly,the ROV experiment system for remotely controlled underwater operations was developed,which mainly includes a surface monitoring system and a slave manipulator system.The water surface monitoring system includes power supply system,main manipulator system,ROV motion monitoring system and camera,sonar monitoring system design,which focuses on the design of the software and hardware design of the ROV motion monitoring board,the software and hardware design of the main manipulator control board and the upper position based on Qt Computer software design;slave manipulator control system design,which focuses on the design of the software and hardware design of the master control panel and the slave control panel,and the software and hardware design of the inverter control panel.Finally,the ROV experiment and result analysis of remotely operated underwater operation are carried out.The experiment includes the function debugging of each control board,the communication debugging between the control boards,the joint adjustment of the water surface monitoring system,the joint adjustment of the slave manipulator system,the joint adjustment of the water surface monitoring system and the ROV body system,and the test of the thruster system.The results meet the design requirements,and the control system is stable and reliable.