Research On Underwater Adaptive Pan-Tilt Zoom System Based On Multi-sensor

Since the beginning of the 21st century,rich marine resources have attracted the attention of all countries,and more and more countries have increased their exploration of marine engineering.Humans on land have the eyes to observe things,but for the bad underwater environment with turbidity,high pressure and dangerous obstacles,the visual carrier often cannot achieve good effect.For the bad underwater environment,sonar can resist turbidity to a certain extent.,low visibility and other problems;but the use conditions of sonar need to have a certain stability,otherwise it will affect its data quality.Therefore,the underwater high-end intelligent equipment that can carry sonar and can maintain its stability,the underwater PTZ,has become an important research field,and how to maintain the stability of sonar has become a very important research direction.Aiming at the self-adaptive control of the underwater PTZ,this paper proposes an adaptive control method based on stepped speed PID and an adaptive control method based on a fuzzy neural network,the sonar can be as stable as possible to ensure the data quality of the sonar.In this paper,the two-degree-of-freedom underwater self-adaptive PTZ is used as the carrier,and the following contents are mainly studied:(1)System design of the two-degree-of-freedom underwater PTZ.The overall goal of the two-degree-of-freedom underwater PTZ was determined,the design and selection of functional components were completed,and the key structures were simulated and pressure tested to ensure the reliability of the design.The hardware of the control system is designed,and the control flow is described.(2)Establish a mathematical model of a two-degree-of-freedom underwater PTZ.According to the modeling experience of the underwater manipulator,the DH method is used to model the kinematics of the two-degree-of-freedom underwater PTZ;the kinematics and dynamics equations of the underwater PTZ are established,and the kinematics equations are verified by simulation experiments Correctness;the dynamic simulation is carried out through FLUENT,and the key factors affecting the adaptive control algorithm are obtained.(3)Research on adaptive control algorithm based on multi-sensor.According to the requirements of multi-sensor use,the theory of Kalman filtering is used to fuse the sensor data,and the filtered sensor data is simulated,analyzed and compared.Two adaptive methods based on stepped velocity PID and fuzzy neural network are proposed The control algorithm is simulated and analyzed.(4)Experimental verification of the adaptive control algorithm.For the proposed control algorithm,the necessary experiments are carried out underwater,and the experimental verifications in the positioning mode and the adaptive mode are completed,and the feasibility of the control method proposed in this paper is verified by experiments.