Research On Depth Control And Dynamic Modeling For ROV

"Outland 1000"is a miniature Remotely Operated Vehicle. It has outstanding performance such as small, flexible. It can be passed on the console button or joystick to control rov in three-axis movement .The lighting on"Outland 1000"also can be strong or weak and pan/tilt pitch can be adjust. It can carry cameras, all kinds of sonar sensors, manipulator and other equipment. It also can do the work like underwater video detection and real-time observation. Because of operational control of instability, the depth control and course-keeping for"Outland 1000"are needed"Outland 1000"is the research subject of the dissertation. First the hardware architecture are described. And aiming to high speed serial port the depth control and course-keeping software architecture are designed. Then according to the structure and operational requirements of"Outland 1000", the spatial movement of horizon plane and the dynamic positioning mathematical model are established. And aiming to the mission of this paper focused on the dynamic characteristics of the vertical plane the nonlinear equations for the vertical plane are established. Through the drag and composite motion pool experiments hydrodynamic parameters are given. Afterward the basic tenets of fuzzy control are introduced and the depth of fuzzy PD controller is designed. MATLAB fuzzy control editor is used to establish the simulation model and do the simulation experiments. From the result of the simulation experiments we can find that fuzzy control for depth control has better control result. Finally the process of the movement, the drag and composite motion pool experiments is introduced. And the calculated method and the result of main hydrodynamic parameters are given.