Research On The Method Of Control And Designing For Special ROV

This dissertation is studyed the submarine escapable cabin segment simulation equipment intitled the special ROV(Remotely Operated Vehicle), simulated submarine escable cabin segment of submarine wrecking,realized leading and position the depth diving accident boat,successfully docking accident boat.The special ROV successfully accomplish the assignment of simulating docking,we shouled according to the mission designed the figuration structure,composition and controled the the special ROV.Firstly,by referencing about the successful experience in design of Underwater Vehicles both in domestic and abroad and analyzing the structure designed factor of the Underwater Vehicles,this paper design an open-shelf structure,with pressure cabin in the middle and two buoyancy adjustment cabin in both sides to simulate the wrecked submarine's escape compartment.Also, the structure intensity of the pressure cabin is calculated and the whole body balance method is analyzed.Besides these,the position of the center of buoyancy and gravity and stability are calculated.Secondly,based on the design of the special ROV's structure,this chapter analysis the property of the hydrodynamic force and modeling the dynamic model of the special ROV.Also,the model is simplified according to the practical need.Then,by using the dimensionless system in the ship theory,the hydrodynamic force of the special ROV is estimated.Finally,the special ROV's 6 degree of freedom(DOF) model is modeled and some simulation results are given to validate the model's horizontal and vertical motion.Finally,according to the special ROV's dynamic model,the harmonious control method has been used in the vertical motion control of the special ROV. The harmonious controller for the vertical plane is designed,as well as,the two kinds of buoyancy adjusted method which is used in the designed of buoyancy adjusted cabin is simulated;in horizontal motion control,we employed a heading control method which is based on thrust parameter assigned controller. Based on the vertical motion harmonious control method of the special ROV, together with analyzing the combined form of the PID and Neural Network,a adaptive PID controller which is based on Neural Networks has been designed. Through different simulation cases,the control method's practicability is verified.