Research On Motion Attitude Control Of Underwater Vehicle(ROV)

Currently,remotely operated vehicle(ROV)has advantages such as safety,economics and high efficiency that is widely utilized to ocean salvage,deep-sea resources investigation and marine oil exploitation,underwater engineering construction,military construction and national defense construction and many other aspects,has produced great economic and social benefits,has a broad application prospect.Based on collaborative innovation Center,Jiangsu Province,high-tech ship in 2016 project,we participated in the development of an observation modular ROV.At the same time,we carried out research on ROV related navigation data fusion algorithm and attitude control algorithm.Firstly,according to the current research status of underwater vehicle at home and abroad,and based on project requirements,we participated in the design of the observational ROV.We designed and developed the ROV control system,including the surface control system and the underwater control system.In terms of hardware,the water control box,power box,navigation and water depth data processing board,main control board under water and water from design and production control board control module;in the aspect of software,to participate in the preparation of the water monitoring program based on VC development,based on the completion of the main control board procedures,LINUX operating system based on ARM-M3 core data processing program based on the ARM-M0 core board and the control board from writing program.Secondly,the research of data fusion algorithm for ROV multiple inertial sensors is studied.Inertial navigation system for multi sensor fusion is proposed,a new method of inertial sensor data optimization(MSOF),the least squares(WLS)with improved strong tracking multiple fading factor unscented Calman filter(MSTUKF)combined with the detailed derivation of the algorithm.By comparing the simulation experiments,it is proved that the proposed new multi-sensor data fusion algorithm(MSOF)has higher stability and accuracy.Then,the ROV attitude sliding mode control algorithm is studied.A dynamic model of underwater robot,based on nonsingular terminal sliding mode control method(NTSMC)in the local convergence in the application of slow and volatile motion attitude control ROV,put forward a new fast nonsingular terminal sliding mode control method(FNTSMC),and the continuity and convergence of the proposed algorithm.By comparing and contrasting the two algorithms,it is proved that FNTSMC has faster convergence speed and better robustness.Finally,after the development of ROV.A series of tests on the land,setting in the pool debugging function of ROV and control parameters,the robot is able to complete the flights,yawing,heaving,tumbling,navigation,depth,roll angle and underwater target observation and other functions,to achieve the desired standards;then,in the Qiandao Lake on the performance of the ROV is validated,and the structure of underwater detection and the observation experiment,video image is clear,flexible robot control,better to complete the task of underwater detection.