Experiment Research On Parameters Identification And Hovering Control Of Miniature Vehicle

Heave compensation is one of the key technologies that need to solve in deep sea mining technique. Heave compensation system needs to examine the heave movement of mining ship, and take it as the signal origin for heave compensation control. To examining mining ship' s heaven movement to need a static coordinate as the reference, but in the deep sea environment, it is difficulty to found the appropriate static reference coordinate as the benchmark. An idea that a station keeping diving can be used for a suitable reference benchmark had been put forward in the previous research on this topic-based group, and had carried on much research ahead of time, had obtained some results, but need further research. This article based on the topic-based group related research' s foundation, Perfect the electronic systems of Goldenfish 2, Established Goldenfish 2 Simulation experiment system Based on xPC environment, and identify the parameters of Goldenfish 2 diving vehicle, and then the model simulation, finally carries on the real-time control experiment, through the simulation and the experimental result analysis, they are basic consistent, shows the controller of this paper is effective.The article first discussed the topic background and the significance, introduced the domestic and foreign related topic research present situation. Then briefly Introduced the shape, the structure, the propeller thrust system of Goldenfish 2 diving vehicle and the diving vehicle' s circuitry system. Then introduced how to establish the diving vehicle communication system under the xPC target environment, software structure of various systems. Then introduced Goldenfish 2 various parameters identification research, including the parameters of propeller thrust, equivalent mass, fluid resistance and stepper motor accelerate curve and so on, introduced in detail the identification principle and the project, simultaneously obtain the reliable identification results. After completed the identification, added the identification parameters into the model, Used the PID,fuzzy and fuzzy PID choose control to carry on simulation to the system, obtains the simulation result. Then according to the simulation result, carried on the real-time control research to diving vehicle, obtained the experiment result, and carries a analysis processing on the experimental datum. Finally, the article has carried on the main summary, simultaneously has discussed this topic next step research work.This article that carried on the research to the Goldenfish 2 have made good progress, may provide the reference for the next research to heaven compensation system' s reference benchmark.