Research On Path Tracking Technology Of Deep Sea Level ROV

Remotely Operated Vehicle(ROV)is one of the most important methods for human detecting marine resources.Usually,hunan beings achieve to explore and develop the ocean by controlling underwater vehicle to finish observation and operation task.The assistance and support of underwater vehicle is essential for deep sea operation tasks,such as marine resource exploration,drilling equipment installation,pipeline cable maintenance,and mining equipment control.However,due to the complexity and unpredictability of the operation environment,the research on motion control technology of underwater vehicle has become the difficulty and key to restrict deep sea mineral resources.In this paper,the path tracking control technology in the research object,deep sea work-class ROV is studied by improving the adaptive sliding mode control algorithm.Firstly,in view of the task such as installation,maintenance and control to deep sea mining equipment,a six-degree-of-freedom motion model of ROV was established,combined with the motion characteristics of rigid body,the force of ROV in ideal fluid environment was analyzed.Based on reasonable assumptions and actual needs,the nonlinear expression of dynamic model and the coupling of parameters are mainly studied and the model is rationally simplified and integrated,which lays a theoretical foundation for the design and verification of the following control algorithm.Then,to consider the large perturbation of hydrodynamic parameters and the uncertain disturbance in the marine environment,based on the exponential approach law and motion model,a sliding mode control method with adaptive law was designed to a better switching surface and control rate.To deal with the chattering problem of sliding mode control,the saturation function was used to eliminate it.By integrating redundant adjustable parameters,the complexity of engineering application was reduced.Combined with adaptive control to further optimize the controller performance.The stability theory of the designed controller was verified by constructing lyapunov function.Finally,using the technology of computer simulation to conduct data simulation verification of the maneuverability of deep-sea operational ROV to ensure the rigor and effectiveness of physical parameters.Then,under the condition of applying perturbation model,the performance of the controller is compared and verified.The experimental data shows that the improved adaptive sliding mode control algorithm can meet the tracking requirements of deep-sea ROV well under the condition of disturbance.In addition,the research group formulated the plan and scheme of the deep-sea experimental platform,designed and realized the three-dimensional pose monitoring system scheme of the deep-sea towing body,solved the application problems of deep-sea resource exploration,promoted the progress of related research,and made technical accumulation for the technical research of the deep-sea mining project in the next step.