Research On Kinematics Modeling And Thrust Allocation Of Work-class ROV

The ocean is our common home,which contains a very rich and valuable resources,and for the development and utilization of deep sea resources,the most direct and effective tool is the sophisticated deep-sea engineering equipment,especially for the operation of remote control underwater robot(ROV)for the deep sea resources development and exploration is played a pivotal role.Therefore,in-depth study of ROV technology is necessary.The main research contents of this paper are based on the "ROV automatic control simulation module development" subproject in "the research and development of the simulation test equipment and the key technology of the underwater engineering safety operation simulation".After the understanding of the specific functions of the project,do some research on mathematical model,the establishment of dynamic positioning system,the application of thrust allocation algorithm and path tracking guidance method,the specific content can be summarized as the following:First of all,research the force analysis about ROV motion situation.According to the modeling methond of Fossen and other experts,the mathematical modeling of ROV kinematics and dynamics model was carried out.In addition,the environmental forces and moments was added.Then,do some simulations in the vertical,horizontal and rotary motion according the mathematical model,which verifies the rationality of the model.Secondly,the mathematical model of the propeller system is completed,and the ROV dynamic positioning system model is established.The simulation of dynamic positioning experiment is carried out on the 2D plane and the 3D space.Based on previous research,the two different thrust allocation algorithms are applied to the thrust allocation module,and the simulation experiments are carried out to compare the applicability of the two algorithms for ROV thrust allocation module.Thirdly,in order to research the problem of thrust distribution more deeply,this paper do some further simulation experiments on different choice about the weight matrix parameters in the objective function of thrust allocation optimization.In addition,calculates the dynamic positioning performance and thrust allocation response when ROV in the case of propeller failure.Finally,according to the automatic path-following function in the project,do some research on the establish method about path-following system.Then three different guidance algorithms are programmed to apply to the ROV motion control model,and do some simulation experiments about constant depth path-following use different path.