Research On Preciese Control For Small Underwater Vehicles

At present,small underwater vehicle have small size,low cost,flexible control,convenient carrying,and simple recycling.They have extremely broad application prospects in future naval equipment construction and marine development.Because the hydrodynamic parameters of ROV are difficult to measure,the choice of control mode is also more special.At present,domestic and foreign scholars mainly focus on adaptive control,sliding mode control,etc.They did not consider the use of active disturbance rejection control technology with the same control effect in other industry fields.Therefore,this paper has carried out some research and analysis on the application of active disturbance rejection control technology in ROVS.I hope that can give some reference to the future research scholars.The paper firstly introduces the current domestic and international research status of underwater vehicles and the development status of control technology,and analyzes them.Combining the results of the analysis,combing and integrating,the main contents,key technologies and the general ideas of the research were determined.After the preliminary analysis,in order to provide a theoretical basis for the subsequent establishment of control models,the kinematics and dynamics models of ROV combined with the kinematics and dynamics equations of ROV were came up.After the model is established,the active disturbance rejection control technology adopted in the paper is analyzed in depth,and the theoretical basis of each part of the control method is analyzed.Based on the theoretical basis,the idea of subsequent controller design is provided.After the theoretical analysis of the active disturbance rejection control method,the design of the ROV depth and head controller is completed,and the design model is imported into Matlab Simulink for subsequent simulation calculation and analysis.Finally,the designed model is compared with the traditional PID control method by the active disturbance rejection control method.The control results and parameter selection of the active disturbance rejection control in different forms are obtained.The results show that the active disturbance rejection control can control the ROV well,and can achieve precise and high accuracy control of small ROV.