Research On The Key Technology Of ROV Navigation Control

As a natural resource bank,the ocean occupies 2 / 3 of the earth's area,which has been widely concerned by all walks of life.How to better develop marine resources has become a focus of all walks of life.In recent years,thanks to the rapid development of the electronic industry,the underwater robot,as a tool for underwater resource exploration and underwater operation,has developed rapidly.This project is based on the demand of the enterprise.It takes the underwater robot with cable remote control as the platform,and its thruster is driven by the brushless direct current motor.This paper mainly studies the thruster of the underwater robot.Based on tms320f28035,a propeller driving control board is designed,and the key technology of ROV navigation control is studied.The main work is as follows:Firstly,the research status and value of underwater vehicle are analyzed,and the control mode of BLDCM is briefly described;Secondly,based on the relationship between the ground coordinate system and the body coordinate system of the underwater robot,the motion model of the underwater robot is established,and the relationship between the joint control of the propeller and the motion mode of the underwater robot is deduced;Thirdly,the ROV thruster controller is developed to realize the joint navigation control of the underwater robot with multi motor thrusters.The hardware modules of the thruster controller are designed.The software part of the controller is designed according to the needs of ROV motion and the hardware system of the controller.The software part adopts the algorithm of magnetic field-orientated control.In order to reduce the volume and mass of the controller,a sliding mode observer with the motor current error as the sliding mode surface is established to estimate the rotor position and speed of the motor,and then the current and speed of the motor are closed-loop controlled through the PI link.Finally,in order to verify the effectiveness of the controller design,the correctness of the controller design is verified by simulation and experiment,and the reliability and stability of the underwater robot control are realized.