Position And Attitude Control Of Small Rescue ROV And Its Application

With the proposal of national marine development strategy, the high-end marine equipment will become a hot research field. In the field of marine equipment, underwater rescue robots will become increasingly widespread. This paper focused on the position and pose control research of "HAI LUO II", one kind of small underwater rescue robot. The paper proposed the heading and depth control algorithm and conducted the simulation and experimental study. Further, for a real search and rescue mission, the paper proposed an integrated positioning and searching method based on acoustics, vision and mobile reference and completed the establishment of research and rescue operating platform. Finally, the trapped Tiger ROV was recued successfully.The main content of the dissertation is summarized as following:In Chapter1, the background of this dissertation was described. Firstly, this dissertation outlined the role of robot in underwater exploration and rescue and then expounded its applications and the position-pose control techniques used in current underwater vehicles. The analysis of the main problems existing in the current techniques crystallized the direction of the research.In Chapter2, this dissertation researched the heading control technology of "HAI LUO Ⅱ". Firstly, this dissertation adopted an integrated control method based on the Inertial Navigation System (INS) and electronic compass control, to improve the accuracy of ROV’s heading control and the performances against strong magnetic interference. Then the results of simulation and experiments showed that the method was effective and practicable.In Chapter3, this dissertation applied sliding mode control algorithm (SMC) in the depth control of "HAI LUO II" and conducted simulation and experiments. The results showed that the application of Sliding Mode Control algorithm in "HAI LUO II" was reliable.In Chapter4, this dissertation designed the hydraulic system of the manipulator equipped on "HAI LUO II" and introduced the hydraulic system of the hydraulic shear. Firstly, this dissertation conducted the design and calculation of hydraulic system of the manipulator and completed the selection of key components.In Chapter5, this dissertation conducted some experiment research to test and verify the effectiveness and practicability of the control of "HAI LUO II".In Chapter6, main research work of the dissertation were summarized and some future work is predicted.