Development And Motion Control Research Of ROV Characterized With Underwater Structure Detection Oriented To Ocean Engineering

Currently, Remotely Operated Vehicle(ROV) has advantages such as safety, economics and high efficiency that is widely utilized to detect structures under water, searching resources in the ocean, maintenance oil pipelines and cables. Based on the industry-studyresearched prospective joint project of Jiangsu Province, this paper develops a multi-functional, modular, mode-converted ROV(MC-ROV) which is oriented to ocean engineering for underwater structure detection, and launches motion control researches. The details are showed as follows:Firstly, novelty system structure and control method are proposed. This paper researches the main components belonging to the MC-ROV body and regulates the detail schemes related to mode-converted and crawling and determination modules.Next, the MC-ROV control system is designed in detail. It is comprised of control system above water, underwater control system and umbilical cable. The first part contains computer, control cabin, joystick and so forth, while the second one includes devices like embedded controller, power module, alarm module, relay control module, motor driving module, inertial navigation module and data module. For the control system above water, a software based on VB is designed for upper computer, communicating with slaver ROV through RS485 of umbilical cable. K60, an embedded controller, is used as the master chip in underwater control system to deal with sensor information, and then uploads calculated data. It also receives instructions to control the operation of underwater devices.Then motion control algorithms are studied as well in this paper. Taking MC-ROV as the object, a dynamic model related to longitudinal and heading direction is researched and then completed. Combined with PID controller, a direct generalized predictive control algorithm that constrains inputs and outputs is proposed, and it is proved as low calculation and strong adaptive ability from simulations and presents great effects to MC-ROV.In the end, system assembly and debug are performed, thereby many tests are done in water tank. Simulation results reveal that the ROV can be operated stably and is able to implement basic functions like underwater detection, rotation, setting depth, setting direction and so on, demonstrating great control performances and satisfying the designed requirements.