Research On Motion Control System Of Small Underwater Exploration Robot

Small underwater exploration robots have the advantages of long working time and high reliability,and are widely used in the field of underwater exploration operations.The working environment of small underwater exploration robot is complex and changeable,and its own motion has strong nonlinearity and strong coupling.To address these problems,a motion control system based on fuzzy PID control algorithm is designed to achieve accurate and stable motion control of the small underwater exploration robot.Firstly,according to the structural characteristics of the self-developed small underwater exploration robot,the kinematic modeling and dynamics modeling are carried out according to the underwater motion law,and the mathematical model of the motion control of the small underwater exploration robot is built,from which the bow motion transfer function and the constant depth motion transfer function are derived.Secondly,the advantages of PID control algorithm and fuzzy control algorithm are combined to design a fuzzy PID controller with online adjustment of PID control parameters using fuzzy control rules,and the motion control model is built in Simulink,and the motion simulation analysis is carried out by using PID controller and fuzzy PID controller respectively.The simulation results show that the fuzzy PID controller can significantly reduce the system overshoot and shorten the system adjustment time,and has better anti-interference ability in the motion control of small underwater exploration robot with turning bow and constant depth.Finally,according to the motion control requirements of the small underwater exploration robot,the software and hardware control system is built based on the modular idea,and the fuzzy PID control algorithm is written into the hardware control system.The components of each control module were selected and debugged,and each control module system was packaged in the small underwater exploration robot,tested for hermeticity,and the performance of the motion control system was further tested through underwater tests.The test results show that during the bow motion test,the small underwater exploration robot keeps the steady state error within ±3° after stabilization,and during the fixed depth motion test,the small underwater exploration robot keeps the steady state error within ±3cm after stabilization.It can be seen that the motion control system based on the fuzzy PID control algorithm can meet the requirements of the small underwater exploration robot to maintain a stable attitude and position for a long time to continuously detect the target,and can accurately and stably control the small underwater exploration robot to complete the preset motion.