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Automatic fixed-depth movement control method of ROV underwater robot

An underwater robot, motion control technology, applied in the direction of height or depth control, can solve the problems of poor stability, difficult to achieve, poor ability to resist underwater surge interference, to ensure mobility and stability, reduce energy loss And the effect of regulating frequency and control method is convenient and practical

Inactive Publication Date: 2019-05-28
HARBIN INST OF TECH AT WEIHAI +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The present invention aims to solve the technical problems that the existing three-propeller ROV automatic depth-fixing control algorithm is complex and difficult to implement, the stability of the ROV automatic depth-fixing motion process is poor, and the ability to resist underwater surge interference is poor, and provides a method that can realize stable, Automatic depth-fixing motion control method for ROV underwater robot that reliably performs oblique navigation and depth-fixing motion

Method used

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  • Automatic fixed-depth movement control method of ROV underwater robot
  • Automatic fixed-depth movement control method of ROV underwater robot
  • Automatic fixed-depth movement control method of ROV underwater robot

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Embodiment Construction

[0069] Referring to the accompanying drawings, the present invention will be further described in detail with specific embodiments.

[0070] like Figure 1-3 As shown, the ROV underwater robot involved in the present invention includes a robot body, a power device and a control system. The robot body includes an acrylic dome cover 1, a cylindrical middle section shell 3, a water seal head 4, a transition section shell 5, a tail shell 6, a gravity block 10, threading screws 13, an acrylic dome cover 1 and a cylindrical middle section shell The front end of the body 3 is connected, the transition section shell 5 is connected to the rear end of the cylindrical middle section shell 3, the tail shell 6 is connected to the transition section shell 5, and the gravity block 10 is connected to the front end of the cylindrical middle section shell 3 , the threading screw 13 is connected with the tail casing 6, and the water sealing head 4 is connected with the cylindrical middle sectio...

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Abstract

The invention relates to an automatic fixed-depth movement control method of an ROV underwater robot. The technical problems that an existing three-propeller ROV automatic fixed-depth control algorithm is complicated and cannot be easily implemented and the ROV automatic fixed-depth movement process is poor in stability and underwater surge interference resistance are solved. According to a dual-closed-loop fuzzy PID controller, an inner ring which is a tilt angle ring controls a vertical propeller to work so that the ROV depression angle can meet the requirements, and an outer ring which is adepth ring controls a horizontal propeller to work. The method can be widely applied in the technical field of underwater robots.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to an automatic depth-fixing motion control method of an ROV underwater robot. Background technique [0002] Today, when land resources are being exploited to the point of being in short supply, it is urgent to further develop marine resources. Earth is the only planet known to have water in three states: solid, liquid, and gas, and it is also the only planet known to have liquid water on its surface. 97% of the world's water supply comes from the ocean. Water is essential to sustain life, and water is closely related to every aspect of human existence. Oceans cover 70.8% of the Earth's surface, far exceeding the Earth's land area. Within ocean coverage, the Atlantic Ocean accounts for 16.2%, the Pacific Ocean 2.4%, the Indian Ocean 14.4%, and marginal and adjacent areas 7.8%. Notably, the Pacific Ocean alone covers 3.2 percent more than all land. [0003] Most of my ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
Inventor 黄博马孔伟陈倩
Owner HARBIN INST OF TECH AT WEIHAI
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