Development Of Navigation Control System And Research On The Motion Control Technique Of Observation-class ROV

As the ocean is explored and developed further, submarine space station and submarine shuttle will be developed and applied in the near future. In order to better assist submarine shuttle to complete the work of interactive docking with submarine space station, it is needed that submarine shuttle is equipped with remotely operated vehicle(ROV), which will work on environment monitoring before docking and observation during docking. Since overhauling equipment underwater is hard and the observing mission is important, submarine shuttle proposes the higher control performance requirements for ROV equipping in it. Therefore, in order to develop the ROV suitable for submarine shuttle, this project conducted a deep research on ROV’s navigation control system, thrust allocation and motion control technique based on "Hello Ⅱ’ ROV.There are six chapters of this paper:In Chapter 1, the paper introduced the research background and significance of this project, as well as the research status of underwater vehicles. Also, the paper summarized the ROV’s navigation control system, trust allocation and motion control technique. Finally, we proposed research objectives and content of this project.In Chapter 2, based on the ROV’s design requirements proposed by submarine shuttle, the paper derived the functions and technical index requirements for ROV’s navigation control system and motion control technique. The following was a brief introduction of "Hello Ⅱ" ROV and the analysis about problems of the existing control system. And then, the paper established the control system’s holistic scheme and software’s design requirements. Finally, the research scheme of ROV’s trust allocation and heading and depth closed-loop control was put forward.In Chapter 3, we set up the software and hardware platform for designing navigation control software. And then, the modular design and detail implementation of control software was detailed. Finally, we tested each function and comprehensive performance of software through water tank experiment. The result showed that the software designed in the paper met the functions and performance requirements.In Chapter 4, on the basis of the analysis about the thruster system of "Hello II" ROV, the paper derived optimization object function and constraint condition of thrust allocation problem. And we designed a method for thrust allocation based on genetic algorithm, and compared it with pseudo-inverse allocation method through computer simulation experiment. The result verified the effectiveness and advantage of allocation method designed in the paper.In Chapter 5, the paper established the dynamic model of "Hello II" ROV’s heading and depth closed-loop control, and developed the fuzzy self-adaptive PID controller for ROV’s motion control, whose effectiveness was verified and parameter was debugged through pure-virtual and semi-physical simulation experiment. Finally, the control performance of heading and depth control was tested through water tank experiment. The result indicated that the control performance met the technical requirement.In Chapter 6, the main research work of this paper was summarized and and the direction to ameliorate is also brought out.