Research On Hovering Attitude Control Method Of Observation ROV

Due to the complexity of the underwater environment,the motion control and attitude regulation of The Remotely Operated Vehicle(ROV)is very difficult to conduct.At present,in the research field of ROV motion control both at home and abroad,the method of combining intelligent algorithms and classical PID algorithms is used widely.This paper,however,mainly studies the control method of ROV hovering attitude and the fuzzy PID controller is used to control the hovering attitude.This paper firstly provides an introduction of the shape design and overall system composition of the new type observation ROV,which is regarded as the physical model of the research object.Then the thrust distribution of the new type ROV propeller during the processes of various attitude adjustments is analyzed.Secondly,based on the shape design of this new type cable ROV,the present research establish a coordinate system and the equation of motion and then carries out the force analysis,thereby founding the kinetic model which provides the basis for the subsequent control and simulation.The observation ROV requires good stability when performing underwater detection.In the practical way of attitude adjustment,the change in angle can be used to measure the hovering posture.When the changes of attitude angle was happened,the controller needs to respond to external disturbances in time,and adjusts the rotation speed of the propeller motor according to the difference between the given and the feedback amount,then controlling the hovering attitude.Since the parameters of the simple PID controller cannot be adjusted according to the change of the environment during the underwater operation,the control effect can be influenced.Therefore,based on the PID control algorithm,the fuzzy control algorithm is used in this paper to adjust the parameters of the PID online.It is hoped to ensure that the parameters,which processes a better robustness,can be adjusted in time when the ROV is in different external environments,and a better control effect can be obtained.Finally,Matlab/Simulink simulation is carried out in order to analyze the output waveform and obtain the conclusion.In this way,the reliability of the fuzzy PID algorithm and the accuracy of the model can be verified.After that,the test part of the study is introduced.This paper collates and analyzes the results of the towing tank test,draws the control waveform of the angle,and also verifies the control performance.Attempt is also made to analyze the results,identify the deficiencies,and provide ideas for the continued research of the latecomers.