水下作业型ROV定深控制系统的设计  

Design of the depth control system for underwater work-class ROV

作　　者：魏延辉[1] 张皓渊 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《中国科技论文》2016年第8期898-903,共6页China Sciencepaper

基　　金：高等学校博士学科点专项科研基金资助项目(20112304120007);国家自然科学基金资助项目(51205074;61473095);国家科学技术部国际科技合作项目(2014DFR10010)

摘　　要：根据水下作业型机器人(remotely operated vehicle,ROV)作业任务需要,研制了自动定深控制系统及其控制方法。设计的ROV定深控制系统主要由深度传感器及检测系统、推进器控制分配器、姿态检测系统和中心处理器组成。建立了水下作业型ROV的运动学数学模型,并进行了单自由度解耦。根据ROV控制系统特点设计了模糊比例积分微分(proportion integration differentiation,PID)控制方法。通过仿真实验和实际试验验证,所研制的控制系统性能可靠,可实现ROV的深度自动控制。According to the work demand for the underwater work-class ROV ,an automatically fixed depth control system with control algorithm is designed .The designed control system consists of depth sensor and detection system ,the propeller control distributor ,attitude detection system and central processor .The mathematical model of ROV＆#39;s motion is established ,and it is de-coupled into single degrees of freedom .A fuzzy PID controller is built for the depth control system .In the simulation and field test ,the feasibility and practicability of the depth control system is verified ,and the goal of automatic depth control for ROV is achieved .

关 键 词：水下作业型机器人 控制系统 定深控制 模糊比例积分微分 

分 类 号：U674.941[交通运输工程—船舶及航道工程]