The Design And Motion Control Of Round Dish-shaped Underwater Vehicle

As we know，the Earth’s most extensive coverage area is the ocean. Ocean provides thewealth of biological resources? animal resources and mineral resources for human being.Ocean exploration and development has become an important part of the development ofhuman science. Underwater vehicle’s appearance makes big contribution to the developmentof the marine sauce. Therefore, more and more researchers are focused on the content of theunderwater vehicles.This paper conducted a comprehensive study for the round dish-shapedunderwater vehicles. Gave the design and motion control method including outline design，overall design, hardware design and motion controller design.First，the proposed a round dish underwater robot shape program, Pro-Engineer3Dmapping software to design the round shape of the dish, importing GAMBIT meshdiscretization and calculation software for the design of the round dish by FLUENTfluidcomputational fluid dynamics analysis. Surface pressure distribution analysis to provethe feasibility and advantages of the round dish shape. Then optimize the shape comparisondesigned two of the same size, different diameter, different thickness of the shell, contrastsummed select its outline principles and methods from the two aspects of the direct drag androlling torque, summed select contour standards.Secondly, it is determined on the basis of the contour of a circular dish underwater robot,rational design based on the outline of the overall conifguration of the round dish underwaterrobot. Motion analysis to establish the the round dish underwater robot coordinate system andthe coordinate system for a round dish underwater robot design, in underwater work, workmode and manner of movement analysis to determine the round dish water The robot attitudeadjustment programs. Its internal structure will be designed to a reasonable layout of allcomponents in a circular disc-shaped contour. Design while taking into account the positionof center of gravity, the position of arrangement of the center of buoyancy, and draws itsoverall physical properties of the table. Lay the foundation for the good handling of the around dish underwater robot.Once again, designed for the round dish underwater robot hardware systems during thedesign needs to select the right attitude sensor MTI，image sensor, depth sensor to study howvarious devices through the the lower machine’s host computer control principlereasonableclose contact with the various functions of the underwater robot hardwarefoundation Then, the design of the gain adjustment type fuzzy PID controller to control its motioncontrol scheme,Characteristics of a round dish underwater robot to select the type of gainadjustment ifozzy PID control scheme for the overall underwater robot control method,modiifed PID controllers through real-time deviation and the rate of change of theproportional coeiffcient, integral coeiffcient and differential coeiffcientthree quantities toachieve the combination of fuzzy control and PID control purposes.Finally, the design of the pond experiment to test the characteirstics of the underwaterrobot and control results.Limit expeirments to test the limit of the underwater robot line speedand extreme attitude angle, explicitly limit the ability of the underwater robots working inwater. And movement control experiment，the test result of fuzzy PID controller to adjust theattitude adjustment and heading control, better control effect of Fuzzy PID controller can beseen compared to the traditional PID controller. The ifnal navigation experiment proved thatthe underwater robot again underwater better jobs.