System Design And Motion Control Research Of A MINI-ROV

At present,small-scale underwater robots are often used in aquaculture,tidal power station inspection,lake dam inspection and many other fields instead of manual operations.Therefore,small-scale underwater robots have great market application requirements.Combined with existing technology research,this paper focuses on reducing navigation resistance,improving maneuverability and stability and designs a MINI Remotely Operated Vehicle(MINI-ROV),which is mainly used for shallow water observation.This paper combines the application background and structural characteristics of classic underwater robots at home and abroad,and design the overall scheme of a MINI-ROV.By comparing two common MINI-ROV's shape,and using Fluent software for hydrodynamic analysis,the rectangular flat streamlined shape is optimized to obtain a more reasonable MINI-ROV's shape design,and this paper designs the pressure-resistant cabin and thrusters of the MINI-ROV.A practical and effective system model is particularly important and is the basis for studying the motion control of underwater robots.In order to obtain the mathematical model required for MINI-ROV motion control research,this paper establishes a spatial motion coordinate system,analyzes the force of the MINI-ROV in water,simplifies the motion model appropriately considering the MINI-ROV's structural characteristics,and derives a MINI-ROV heading and depth control model.This paper research on the problem of MINI-ROV poor anti-interference ability due to small size and light weight.In order to improve its anti-interference ability,this paper designs closed-loop control of MINI-ROV's heading and depth using three methods: traditional PID,cascade PID,and PID + fuzzy PID,which is guaranteeing underwater shooting tasks can complete successfully.And performs simulation experiments using MATLAB/Simulink to verify the control effect,and by analyzing the simulation result,this paper uses the cascade PID method to realize the heading and depth control functions of the MINI-ROV.Finally,this paper sets up the experimental prototype,designs the hardware system and software system of the MINI-ROV,and performs the test of the MINI-ROV's endurance,manual functions,and automatic functions.These experiments show that the MINI-ROV in this paper has good maneuverability and stable motion.