Research On The Control System Structure And Heading Control Technique Of "Hello Ⅰ" ROV

The sea is rich in resources, which is a valuable asset for sustainable development. China's vast sea area also has huge reserves. Exploiting and utilizing the ocean resources will benefit the country and human. With the development of science and technology, and the speed up ocean development process, the research on underwater vechicles, which can explore the unknown underwater environment and perform specific tasks, has become a hotspot.Against this background, this paper researches the control system structure and heading control technique of remotely operated vechicles (ROV), based on "Hello I" observation-type ROV. Developing a suitable and stable control system for "Hello I" ROV and realizing close-loop control of heading have been finished.This paper is divided into six chapters:The first chapter introduces the background of subject, the development and present status of related researches at home and abroad, the methods of ROV's motion control, the purpose and significance of this research, and the structure and main content of this paper.The second chapter introduces the mechanism structure and dynamics model of "Hello I" ROV. The overall program, detail design and arrangement of thrusters of "Hello I" ROV has been introduced. And the dynamics model of ROV has been built up after dynamics research.The main content of chapter three is the research of "Hello I" ROV's control system. The entire control system includes the host computer system and lower computer system. This part covers the hardware and software development process of host computer, the hardware and software design of ECU.Chapter four describes the sensor system and communication system of "Hello I" ROV, including the used sensors, data and image information communication. The RS485 serial data communication is used to deliver data between the host computer and lower computer, using the developed protocol. The image information is delivered by coaxial-cable.Chaper five researches the heading control technique of ROV. Based on the PID control algorithm and Simulink simulation, the PID controller has been designed after establishing the transfer function of ROV's closed-loop heading control system. The performance of the controller has been verified and the adjustment of parameters has been finished by testing. After experimental verification, the method used in this paper can realize the closed-loop heading control of ROV.Chapter six is a summary of the full paper as well as prospects for future work.