Study On Heading Motion Control Based On Model Identification Of Remotely Operated Underwater Vehicle

With the continuous exploitation of underwater resources,the underwater operation ability of underwater vehicles has gradually received attention.Precise motion control such as depth determination and heading and strong anti-interference ability are the prerequisites for underwater vehicles to perform underwater operations well.It is of great research significance to improve the motion control ability of underwater vehicles.This paper takes the threepropeller Remotely Operated Vehicle(ROV)as the research object,and carries out the following research work:(1)By establishing the fixed coordinate system and motion coordinate system of the underwater vehicle,the transformation relationship between the two coordinate systems is analyzed,and the kinematic model of the underwater vehicle is established.By analyzing the forces of the underwater vehicle,the dynamics model of the underwater vehicle was studied,and the motion control model of the system was simplified according to the characteristics of the ROV control actuator.(2)The PID control method is used to design the depth controller,heading controller and speed controller of the ROV;and the simulation experiment of the motion control of the ROV is completed,and the test results are analyzed and the accuracy of the simulation experiment is verified.(3)The least squares method is used to obtain the relevant hydrodynamic parameters in the course of the ROV,and the parameter identification results are evaluated and analyzed.Manipulate the heading motion characteristics of the underwater vehicle.Based on the motion model of identification,the state feedback control method is used to design the depth controller,heading controller and speed controller of the ROV;and the simulation experiment of the motion control of the ROV is completed.The comparison between the experimental results and the PID control simulation results shows that both controllers can complete the basic motion control of the ROV,but the control effect of the state feedback controller is better.(4)Based on the existing test conditions,the designed heading PID controller was introduced and combined with the proportionality parameter setting method,the heading control pool test of the ROV was carried out in three times.The comparative analysis of the three test results and the simulation experiment verifies the feasibility and rationality of the designed heading PID controller,and it can better complete the heading control task of the ROV,but compared with the ideal underwater PID controller in the simulation experiment.In the actual underwater environment,the parameters of the controller need to be further adjusted.