The Design Of Deep Sea Work-Class ROV Control System

With the scientific research of the deep sea and development of oceans resources becoming further and further, the Deep Sea Work-Class ROV are attaching much more importance. The excellent performance of the deep sea work-class ROV control system can ensure the safe motion and operation of ROV,and unpredictable external interference may occur while ROV is operating, so the ROV must keep higher static stability, therefor, the design of the excellent control system and static suspension controller is of great importance.The paper is organized as follows. First, the overall structure of the control system is analyzed, and then, the hierarchical control system architecture and the composition of the control system is analyzed and established, the VxWorks is chosen as the control system software platform because of its well real-time performance and reliability. The design of ROV software of the control system is especially focused on later. The need of the control system is analyzed, and then the overall structure of the software of the control system is established. After that, the control procedure of the software is designed, which is based on the ROV task scheduling, and the control system program are designed flowed, also the ROV static suspension controller are embed in the control system software.Secondly, the ROV motion function is established, and the static stability is analyzed.The ROV dynamics is based on the Newton's Second Law and the force analysis of ROV, and then the ROV motion function is obtained by combining dynamics with kinematics. After that,the static stability of the ROV is analyzed based on the ROV mathematical model, and the resistance on the ROV is concerned for the static stability. At the end, the ROV motion function is decoupling to 6 degree of freedom to analyze the stability respectively.Thirdly, the controller for the ROV static suspension is designed based on the traditional PID and the Fuzzy Logic. PID is the fundamental controller because of its high precision and stability, Fuzzy Logic is used to optimize the PID parameters because of its excellent performance for nonlinearity. The ROV static stability controller is designed and the stability of the controller is analyzed based on the Lyapunov stability later.Finally, A simulation experimental platform is designed to test the stability of fuzzy logic PID controller with different disturbance force from 6DOF. And the validation and reliability of the designed static stability controller of ROV are testified by the results...