Systematic Design And Motion Control Of A Remotely Opertated Dam Detecting Vehicle

In these decades, by the requirements of ocean exploitationsand military affairs, A new kind of underwater vehicle----unmannedsubmarine was rapidly developed. These variations of vehicles, which consist of high technology, are an important reference of each country's Navy development. By their various tasks, the vehicles differ greatly. From the micro vehicle weighing decades of kilograms used for hydrodynamics experiments to the very large-scaled nuclear powered vehicle which can carry out tasks for a long period under the water. Among these, Remotely Operated Vehicle, is favored for its mature technology and wide use in the commerce. The ECMT of HEU has been undertaking research in this field, A new ROV named "Intelligence-Ill" was successfully designed and constructed, the experiments on it showed that it can fulfill the current needs, its performance and the technology is on the lead in home and catched up with the abroad in 1990.This article expounds the design and construction of a practiced ROV based on the achieved technology, and tries to improve "Intelligence-Ill".In the thesis, A open framed ROV was designed and equipped with all kinds of sensors used in the dam detecting process, then the Hydrodynamics coefficient was estimated. Thus, the four-degree equations was set up, A quantity of simulations were done with the Integration-detached PID algorithm. In the experiments, we took the errors of distance and velocity as input, observed and recorded the response time, stability and accuracy, etc. . and the simulationsshowed that the ROV can meet the expected requirements.