Development, depth control and stability analysis of an underwater Remotely Operated Vehicle (ROV)

摘要

Underwater robots especially Remotely Operated Vehicles (ROV) are designed to perform different tasks in extreme conditions in depth of oceans all over the world. The utilization of such robotic vehicles has gained an increasing importance in many marine activities. The purpose of this paper is to explain the design, stability analysis and the problem of depth control of “DENA” the ROV from underwater robotics team of Isfahan University of Technology. “DENA” is a small size; low cost, and an educational proposes ROV, which has six thrusters, one manipulator arm with a unique electrical design, which makes it easy to handle different equipments in future. As the importance and the complexity of the tasks performed by ROV increase, the need for automatic control schemes that guarantee high performances in motion and positioning has become a basic issue in underwater automation. At this regard, a control schemes, based on PID technique for Auto depth Control and the equations for Roll & Pitch stability are proposed.