Researchr On Measurement And Control Platform And Navigation And Positioning Algorithm Of Underwater Ship Surface Cleaning Robot

During long-term shipping,a large number of Marine fouling organisms will be attached to the surface of underwater hull,which will increase navigation resistance and fuel consumption,and increase the transportation cost.The use of underwater robot for ship cleaning will significantly improve the cleaning efficiency and reduce the loss of stop.Domestic ship cleaning robot technology is in rapid development,to carry out the cleaning robot research,has huge commercial value and social value.Combined with the practical engineering project of ship cleaning robot,this paper mainly carries out research on motion control,integrated navigation,control system and so on.Based on the actual requirements of Marine cleaning engineering,the overall hardware and software scheme of the control system of underwater robot and the propeller layout scheme are designed in this paper.In terms of motion control,the mathematical model of the underwater vehicle was deduced and determined according to the layout scheme of the propeller.The attitude and position controllers were designed using PID controller,and the simulation test was carried out in Simulink.The simulation results proved the effectiveness of the designed control method.In this paper,an integrated navigation algorithm with variable gain compensator combined with EKF is proposed.Simulation tests are carried out in MATLAB compared with EKF.The simulation results show that the performance of the proposed method is significantly improved,and it can better meet the design requirements.Based on the overall scheme of the control system,the hardware and software control system with dual controllers is designed and realized in this paper.Hardware system Based on Altium Designer software design of sub-controller circuit board,complete the hardware unit selection.The software system is based on ChibiOS and FreeRTOS embedded real-time operating system to complete the design and programming of the underwater vehicle dual controller software.Simulation test and laboratory test were carried out in Gazebo 3D simulation environment and pool environment.The experiment proves that the software and hardware control system and integrated navigation and positioning algorithm developed in this paper have practical engineering application ability,which confirms the feasibility of the research content of this subject.