Design And Research Of Automatic Tracking ROV For Underwater Pipeline

In recent years,the development of marine engineering technology has gradually become the focus of the national development strategy and a hot spot in the field of marine research.The submarine pipeline has made rapid advancement by virtue of its comprehensive advantages of low cost,high efficiency,and high reliability.The working environment of the submarine pipeline is very complicated,and safety accidents are constantly emerging.It is imperative to use various detection methods to ensure the safety production of submarine pipelines.Pipeline detection ROV is commonly used as a testing equipment at home and abroad,monopolized the market by foreign companies,and developed independently designed intelligent pipeline testing ROV has important scientific research value and engineering application significance.The purpose of this paper is to ensure that the ROV detection of intelligent pipelines is performed autonomously and provide design solutions for practical projects.Therefore,a new type of ROV has been designed based on the engineering background,and related equipment such as detection systems that do not require electromagnetic excitation sources have been selected for investigation.According to foreign advanced ROV's work flow was targeted for optimization and the control strategy was improved.The corresponding controller was planned and designed accordingly.The simulation test platform was set up and tested and compared with the ROV designed in this paper.First of all,this paper investigates the research status of various types of offshore pipeline testing technology and pipeline detection ROV at home and abroad,and sorts out the control methods in accordance with the various movements in the operational process,providing research trends and design goals for intelligent pipeline detection ROV.Secondly,the overall design and dynamics modeling of pipeline inspection ROV were carried out in this paper.According to the design goals,the design of each functional module was carried out.The corresponding equipment was selected for the investigation,and the simulation model was established and the center of gravity,buoyancy and stability were calculated.The layout of the propulsion system is arranged in a circular arrangement,the hydrodynamic performance is analyzed,and the force analysis is performed for the static environment of the design structure.The dynamic equation is established for the simulation test.Again,this paper introduces the working principle of the selected detection system.Based on this,it designs the control architecture,investigates the ROV operation process abroad and proceeds from the design goal,optimizes accordingly,and plans control strategies based on the optimization results,and analyzes each basic internal workflow of the operation ensures the reliability of the control system.Finally,this paper analyzes the overall motion characteristics of ROV intelligently.According to the motion planning,the vertical plane motion is controlled and the horizontal plane trajectory tracking model and dynamic equations are established.Then the trajectory tracking error equation is established and the adaptive PID is designed.The trajectory tracking controller uses the Lyapunov theory to verify the asymptotic stability of the closed-loop control system and simultaneously performs double-closed-loop improvement for the dynamic positioning.The performance test of different sports was conducted using the simulation test platform,and compared with the existing automatic tracking ROV study.The results showed the effectiveness of the control system and provide the design basis for the next prototype construction.