Research On Motion Control System Of Cableless Underwater Vehicle

With the development of underwater robot technology and the maturity of computer technology control theory and technology,cableless underwater robots play an important role in many fields such as marine exploration,civil aquaculture and military reconnaissance due to their flexibility,lightness,and high degree of autonomy.The control technology of underwater robots has specific applications in specific working scenarios of various operational robots,and is of great significance to the development and improvement of various motion performances of cableless underwater robots.Thesis takes the cableless underwater robot as the research object,according to the subject foundation of the underwater robot kinematics,dynamics and other disciplines,the theoretical knowledge of the Proportion Integration Differentiation（PID）control strategy and the sliding mode control strategy,and makes relevant research on the motion control of the cableless underwater robot.as follows:First of all,thesis takes a small cableless underwater robot as the research object,analyzes the force of the robot during work according to the structural characteristics and hardware distribution of the robot,and establishes the dynamic model of the underwater robot;Spatial motion model.Secondly,according to the structural characteristics and motion characteristics of the robot,the transfer functions under different control methods are derived,and the simulation models of the two control strategies of cascade PID control and sliding mode variable structure control are built respectively.The simulation and comparison with the heading control are carried out,which proves the superiority of the sliding mode variable structure control strategy compared with the cascade PID in performance.Considering the complexity of underwater conditions,combined with the simulation model under the disturbance environment,the thruster output,hydrodynamic output and comprehensive output of the uncabled au V under the sliding mode variable structure control strategy are observed,which further proves the advantages of the sliding mode variable structure control strategy.Finally,thesis introduces the hardware composition and execution mechanism of each motion module of the underwater robot in detail,and makes corresponding design for its hardware control system.Thesis focus on the detailed description of the core hardware sensor function application,and describe the implementation and application of the communication technology on the software.This thesis carry out the interconnection test of the robot and the sensor,and debug the hardware part accordingly,verifying the practicability of the control system.