Control System Design And Experimental Analysis Of Remotely Operated Vehicle

With the rapid development of human society,land resources are gradually unable to meet the needs of human beings,the value of the ocean has been paid more and more attention.Underwater vehicle is a kind of underwater operation tool which can replace man to carry out safe and efficient operation,has been widely used in ocean development.The subject requires to development a medium sized ROV which is mainly applied to offshore oil industry.In this context,this article mainly carried out the following research:First of all,according to the specific requirements of the project developed the ROV's overall plan,formulated specific technical parameters,and completed the design of the body structure and propeller layout scheme.Then introduced the form,material,sealing and anti-corrosion measures of the pressure-resistant structure,completed the design and verification of the pressure-resistant structure,and verified the performance by using simulation tools.Secondly,the hardware of the control system was designed and the control system was divided into four parts: the distribution system,the water control system,the underwater control system and the information exchange system.The communication method between the water and the underwater control systems was formulated.Electricity demand for ROV is analyzed,and based on this developed the ROV supply scheme,completed the circuit distribution cabinet,the cabinet,panel layout and design.Completed the design and below water control system,and gives the main features of the two systems.Then developed a panel of subsea control systems,complete navigation equipment selection..Thirdly,the space motion of ROV is studied,the coordinate system used to describe ROV movement is established,and the ROV space motion equation is deduced and simplified.The control method of ROV was studied.,the ROV forward movement transfer function was deduced.And based on PID algorithm and Simulink simulation,the controller design and parameter tuning were completed.Finally,the performance of the ROV as a whole and its components was tested through experiments.The function of the distribution system was tested,and the performance of pressure-resistant structure was also tested.Then introduced a series of ROV underwater tests,including: balance adjustment,light brightness adjustment,video communications,motion testing,hydrostatic speed measurement,transfer control,component performance testing,and analysis of the test results in the end.