Control Technology Research Of Autonomous And Remotely-operated Vehicle

Underwater vehicle is an important tool for underwater detection and operation. Itsapplication field is gradually expanding. The dissertation is on the research of “Sea-kite”Autonomous and Remotely-operated Vehicle (ARV), which is independently developed byChina Ship Science Research Center (CSSRC). It can operate in two different operation modesof ROV mode and AUV mode. ARV is a kind of hybrid underwater vehicle.ARV is superior to traditional ROV on the economy, flexibility and scope of activity, whichis suitable for inspecting potential problems of dams, testing water quality of rivers and lakes,monitoring deep-sea areas, completing oceanic exploration with other kinds of underwatervehicle.In the dissertation, firstly control system is introduced for ARV. Control system is the corepart of ARV, which is directly related to system performance, work capacity and runningenvironment. It includes surface display and control subsystem, motion control subsystem,implementation subsystem, sensor subsystem, power subsystem and fiber optical micro cabletransmission subsystem.The dissertation analyzes the force which is acted on ARV, including gravity, buoyancy,thrust force and hydrodynamic force, build the mathematical model of ARV. ARV uses fourpropellers to achieve descent/ascent motion, longitudinal motion and yaw motion. According tothe structure character and the demand of ARV, a four-degree equation is set up.Based on the motion model of ARV in the dissertation, a fuzzy-PID controller is designedfor its motion control, including depth control and direction control. Fuzzy-PID controllersynthesizes the advantage of fuzzy control and PID control, utilizes the fuzzy rules to on-linetune the parameters of PID controller, and achieves better control effect. Simulation experimentsand pool experiments are respectively taken for the controller. From the comparison results oftraditional PID controller and fuzzy-PID controller, we can find that fuzzy-PID controller ismore rapid and accurate, and improves dynamic performance of ARV. The controller has goodapplication in depth control and direction control, and satisfies the control requirements of ARV.