Research On Control Method Of Stabilized Hovering And Trajectory Tracking Of Open-frame Underwater ROV

With the extensive use of ROV in a variety of complex environments,in order to meet the actual work needs,this puts higher requirements on the control performance of ROV stable hovering,trajectory tracking and so on.The research content of this thesis comes from the key technology research project of CNPC underwater detection and maintenance robot system development.The designed ROV will be used for jacket detection,and the PID controller,fuzzy controller and fuzzy PID controller control will be analyzed under certain sea conditions.Performance,the control effect of each controller on stable hovering and trajectory tracking is obtained,which provides a reference for the selection of control methods in ROV engineering practice.Firstly,it analyzes and summarizes the current research status of ROV at home and abroad,understands the current research focus and direction of underwater robots,and provides reference basis for the selection of control methods for subsequent underwater robots.By analyzing and summarizing the current research status of ROV at home and abroad,combined with the purpose of work and working environment,an open-frame ROV underwater robot was designed.In order to ensure sufficient strength and stability of the designed ROV,ANSYS software was used to design.The main structure is analyzed for corresponding strength and stability.In order to study the characteristics of ROV movement under water,this paper establishes the dynamics and kinematics model of ROV under water.Considering the working environment of ROV,the environmental interference model is introduced,and the model is simplified with the designed ROV.The control model of the ROV in this paper.In the study of ROV stable hovering,in order to fully test the control performance of the three controllers,each controller is used for the fixed-point hover control test under the two working conditions of the near-surface area and the relatively deep area,and analyzed by MATLAB.The control effect of each controller is obtained.In the study of ROV trajectory tracking,combined with the requirements of the marine jacket platform detection,the jacket detection route is planned.For the convenience of discussion,the planning route is divided into three cases for trajectory tracking research,and the speed jump occurs.The route was optimized to eliminate the hazard caused by the speed jump.Finally,through the MATLAB simulation analysis,the tracking control effect of each controller was obtained.