Research On The Control System Development And Dynamic Positioning Of Underwater Detection And Operation ROV

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 collaborative innovation Center,Jiangsu Province,high-tech ship in 2016 project,involved in the development of a new multifunctional,modular underwater robot ROV protype,and carry out research on new dynamic positioning methods.The details are showed as follows:Firstly,based on the current status of domestic and foreign manufacture of underwater robots,and according to the technical requirements of the project,proposed a set of new underwater robot research program.First,we carried out the body design according to program,including frame design,dynamic propulsion system design and selection of other key equipment components.Then,the ROV surface control system is designed and developed.On the hardware side,the design and development of the surface control box and the surface power box are completed.On the software side,a host computer monitoring software with human-computer interaction and display and control functions is developed.Computer man-machine interactive interface based on the VC development,including video display,video interface jog,PTZ and thruster control,data storage,alarm and other functions.Secondly,the ROV underwater control system is designed.On the hardware side,the design and development of the hardware circuit and system board of the bottom control board are completed,including the minimum system circuit,power supply voltage and current,temperature detection circuit and so on.On the software side,the software program design of the bottom control board is completed..And the double closed-loop PID control program design for setting depth and setting heading angle are completed.After that,the new dynamic positioning methods of ROV are studied deeply.The six-degree-of-freedom motion model of our ROV is established based on the hydrodynamic coefficients calculated by the pool experiment and numerical simulation.Adaptive Unscented Kalman Filter(AUKF)is used to estimate the state of underwater robot in real time.A novel multivariable,multimode Fast Nonsingular Terminal Sliding Mode Control(FNTSMC)is proposed.And a multimode fast nonsingular terminal sliding mode controller is designed for thrust compensation.Finally,a dynamic allocation strategy is designed according to the localization error,which keeps the ROV dynamically in the target position.Finally,after several underwater experiments,the ROV can implement pretty good motions such as forward and back,floating and diving,lateral movement,lateral roll and underwater structure detection that can accomplish expected requirements.And the setting depth and setting heading angle experiments are carried out to verify the effectiveness of the double-closed-loop PID control algorithm.Finally,the hardware-in-the-loop simulation of the proposed new dynamic positioning system is carried out.The new sliding mode controller(FNTSMC)is simulated and compared with the traditional sliding mode controller under the condition of static water and disturbance.Simulation results show that the new FNTSMC has global fast convergence characteristics,and the effectiveness of in ROV dynamic positioning is verified.