Research On Work-Class ROV Dynamic Positioning Control Technology

In the 21 st century,the ocean is an important resource,under the modern environment of energy hazards and global warming,Work-Class ROV as a kind of deep sea operation equipment,playing an important part in utilization seabed resources.This paper studies and designs for work-class ROV dynamic positioning control system.The control idea of dynamic positioning is added to the control strategy of work-class ROV that as the carrier,in order to improve the accuracy and efficiency of operation under water.Firstly,this paper provides the overall design of the work-class ROV dynamic positioning control system,and builds dynamic positioning control system,hydraulic propulsion system,navigation system platform respectively,focus on the hardware circuit design and software system design of the propulsion drive system.It also builds a dynamic positioning thruster system hardware platform,and completes the preparation of related software and implementation function of the ROV dynamic positioning control.Secondly,the mathematical model of ROV six DOF kinematics and dynamics is established,and the model of the whole error propulsion system of ROV in the case of rolling and pitching is deduced in detail.According to the demand of underwater operation,the decoupling simplified is made for the work-class ROV six DOF dynamic positioning model respectively,and the level three DOF linear motion model and the single DOF model of vertical,pitch and roll are established.Thirdly,robust controller is designed according to the work-class ROV dynamic positioning control system,and I design three different controller according to the characteristics and operation demands of each degree of freedom: variable structure controller is designed based on bio inspired sliding mode for meeting the water depth set and high positioning control;pitch and roll attitude control are designed the adaptive integral back-stepping controller with disturbance observer for the needs of working attitude;in order to control the level of hovering,I have designed optimal controller based on linear quadratic(LQ);and expounds the derivation of related controller,and the stability of the controller design is proved.It verified that the control effect of each degree of freedom.The multi attitude thrust distribution control of the ROV is done in the three-dimensional simulation,and the result is good,which meets the requirement of the real-time performance and anti disturbance ability.Finally,three important elements in the system,which are propeller drive unit,communication unit and navigation system,are carried on testing experiment,and sea dynamic positioning experiments on ROV.Through the analysis of the experimental data collected,it is proved that the effectiveness of work-class ROV dynamic positioning control system of the design in this paper,and it achieves a better control effect.