Research And Design Of Underwater Vehicle Based On Ocean Ranch

With the acceleration of human development of the ocean,marine ranch cage farming has replaced the traditional cage farming,the cage culture management system of marine pasture built by multi-functional small underwater vehicle can effectively integrate integrated software and hardware equipment,form powerful analysis reports,reduce human errors.Therefore,the research of underwater vehicle plays an important role in the construction of marine pasture.Aiming at the common problems existing in underwater vehicles,this paper focuses on the research of underwater vehicle system based on cage fish culture in marine pasture,and clarifies the significance of this study.Firstly,this paper determines the overall scheme of the system,takes the open-frame structure as the outer frame of the underwater vehicle,establishes the parametric coordinate system and the motion coordinate system,uses four elements to describe the motion attitude of the underwater vehicle,and designs the hybrid architecture of the underwater vehicle.Secondly,this paper chooses the hardware part of the system and designs the circuit,and on the basis of hardware,software design is carried out for each module.At the same time,the underwater robot operation monitoring system upper monitor is designed by Qt,the introduction of the front panel and the related communication protocol are given.Thirdly,this paper studies the attitude fusion and motion control algorithm of underwater vehicle,uses a fusion algorithm based on complementary filtering and Mahony filtering to fuse the attitude,uses single-loop PID control and cascade double-loop PID algorithm to control the depth and attitude of underwater vehicle respectively,and carries out the simulation experiment of Matlab,which provides a theoretical basis for the motion control of underwater vehicle.Finally,the underwater vehicle is tested.Some modules are tested first,and then the whole system is tested underwater.The experiment shows that the upper computer can control the underwater vehicle to complete underwater motion and transmit underwater information to the upper computer,which basically meets the design requirement.