Design And Motion Control Of Remotely Operated Vehicle In Pipeline Inspection

Subsea pipeline is an important part of offshore oil and gas fields. The remotely operated vehicle (ROV) can achieve real-time monitoring and information feedback of the subsea pipelines, which is helpful to grasp the overall situation along the pipeline.In this paper, the design and analysis of the ROV have been carried out which can be applied in submarine pipeline inspection. And then, we do research of the motion control based on PID control algorithm. Finally, a large number of experiments have been executed based on above theoretical analysis.In this paper, the combination method of integration and modularization is used in the overall structure layout and design of ROV. The body structure type, propulsion systems, observation and lighting systems are demonstrated, selected and designed according to the general design criteria of ROV and the specific structural type of the major functional modules.This paper has completed the design of subsea pipeline inspection ROV. The main and secondary structure of the ROV are designed and fabricated, including the design of frame, float, electronic warehouse, lighting and camera system, propulsion, and so on.This paper has analyzed the main structure of ROV. Firstly, we achieved the structural analysis and modal analysis of the framework, and determined whether the design meets the requirements based on the stress and deformation results. Secondly, we carried out the pressure analysis of the electronic warehouse to make sure that the security of designed depth has been guaranteed. Thirdly, the propulsion system has been analyzed in detail. We described the calculation methods of the resistance and the thrust, and checked the thrust. Finally, the buoyancy design principles and calculation methods of ROV are introduced in detail, and the buoyancy is checked.This paper has researched on the ROV motion control algorithm. The PID control algorithm is used to control the height and attitude of ROV which is verified to be effective and correct by a series of experiments.