新型观察级ROV建模与俯仰角控制研究

Research on Motion Control and Dynamic Modeling of New Observation Level ROV

由于水下环境的复杂性,遥控式水下机器人的运动控制十分困难。该课题在一种新型有缆水下机器人外型设计的基础上,通过建立模型,分析运动方程,受力分析,从而建立控制模型。运用一种双闭环PID的控制算法,得到更优的控制效果。最后进行Matlab/Simulink仿真,结果与传统PID控制进行比对,可以得出结论,双闭环PID控制器具有更快的响应,更好的控制效果。

Due to the complexity of the underwater environment,the motion control of Remote Operated Vehicle(ROV)is very difficult.Based on the appearance design of a new type of ROV,a model is established to analyze the equation of motion and conduct force analysis,and then a control model is built.A dual closed-loop PID control algorithm is used to obtain better control effects.Finally,the Matlab/Simulink simulation is performed.Comparing with the traditional PID control,the result shows that the double closed-loop PID controller has faster response and better control effect.