Research On Motion Control Method Of Underwater Vehicle

The interference of water flow during the operation of underwater robot has great influence on its motion.Its smooth motion and precise positioning are the difficulties that affect the underwater operation of the robot.The precise control model and high reliability control algorithm are to improve the performance of underwater robots.Foundation and premises.Therefore,this paper mainly studies the underwater robot motion control method,and shows that the fuzzy PID composite control method has better control effect on underwater robot motion.Firstly,according to the law of underwater motion,the space motion equation of the underwater vehicle is derived by taking the small underwater vehicle designed by itself in the laboratory as the research object.Combined with the structural characteristics of the underwater vehicle,the dynamic equation of the underwater vehicle is established by analyzing the external force when it works,and the control models of Progressive and retrograde movement control,the bow control and the fixed depth control of the underwater vehicle are deduced according to the motion of the underwater vehicle.Secondly,according to the specific characteristic parameters of underwater vehicle,the specific transfer functions of forward and backward motion control,heading control and fixed depth control are obtained,and the simulation control models of ROV under various motion conditions are established by using traditional PID controller,fuzzy PID controller and parallel fuzzy PID compound controller for forward and backward distance,heading angle and depth respectively.The response results show that the parallel fuzzy PID compound control algorithm has a good control effect on the underwater vehicle.Considering the actual structure of the underwater vehicle and the actual motion of the underwater vehicle,the one-dimensional sliding table is introduced as the center of gravity adjusting device of the robot to get the robot wound.The longitudinal tilt caused by the disturbance of the center of gravity of the longitudinal axis is compensated,the disturbance observer is used to predict the disturbance,and the discrete sliding mode variable structure control is used to control the longitudinal inclination.The simulation results show that the disturbance observer has a weakening effect on the buffeting caused by sliding mode control switching.Finally,this paper selects and debugs the components required for the experiment for the design index of the underwater robot,and the components are electrically connected and packaged in the robot electronic cabin.The algorithm is difficult to verify due to the difficulty of disassembling the underwater robot.The simulation motion test platform is built,and the feasibility of the angle control PID algorithm and the parallel fuzzy PID algorithm is verified.The experimental results show that the parallel fuzzy PID composite control algorithm has higher reliability than the PID control algorithm.