| Heave compensation is one of the keys to technology that need to solve in deep sea mining. Heave compensation system needs to get the heave motion signal of the mining ship as a feedback to carry out the compensation control. To find a static reference coordinate in the deep sea environment is important and also difficult. Based on the work before, and after analysis of the function and requirement of the underwater vehicle, the work in the paper is focused on model experiment researches. The main contents of this paper are summarized as follows:(1) According to the conditions of the "zero wave plane", a model underwater vehicle, baptized Goldfish II, is developed for experiment researches. The development of Golden-fish II's sub-systems of the mechanical and electrical set-up, which are consisted of the hardware and software design of a depth-measuring device, a volume-adjusting device, propellers, a leak monitor device and a power device.(2) Works in model experiments on the station keeping control is completed. Main tasks include: building a experimental software platform by means of Visual Basic and C51, with which the algorithm can chosen from PID, fuzzy and proportion-fuzzy in PID for control of Golden-fish II in station-keeping. Also there is a real-time indication of the status of the piston and propeller, and the state change of the ROV in displacement.(3) Analysis and summarization of experiment results, it expressed that the algorithm of proportion-fuzzy in PID is better. Finally, some exploration in future research is discussed.What is fulfilled is obtained a great amount of experiment data, and that is helpful for the future research on the reference coordinate frame of the heave compensation system in the deep-sea mining.
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