Research On Motion Control Of The General Detection Remotely Operated Vehicle

A general detection remotely operated vehicle (GDROV) is a remotely operated underwater vehicle designed to inspect dams for cracks, crevices and other potential problems. It is an underwater vehicle equipped with many advanced inspecting sensors. To complete the job, GDROV must be controlled efficiently. To do this, a mathematic model of the GDROV is necessary. However, GDROV is a non-linear system. So it is difficult to build an accurate mathematics model for GDROV. In addition, because the working environment of GDROV is very complicated and uncertain, the research on how to acquire stable movement of the vehicle is crucial to the real application of the vehicle.In this thesis, a fuzzy sliding mode control method is presented integrating fuzzy and sliding mode control. The control method can greatly abate the chattering of controller and increase the control performance. Then an interface controlling system of the GDROV base on the fuzzy sliding mode controlling arithmetic is developed. The feasibility and stability of this system has been ascertained through the trial. Furthermore, PC104 is used as the underwater controller of the GDROV and a VxWorks program running on the PC104 is also developed too. The main task of PC104 controlling system is to achieve the information of the sensors which are mounted on the GDROV and to send the instructions to the dams of the GDROV. This system together with the interface system forms an intact GDROV controlling system. Finally, the feasibility and reliability of the motion control system were verified by trial.