ROV Sliding Mode Controller Design and Simulation

摘要

Underwater robots play a vital role in the exploration and development of marine resources and the inspection and maintenance of offshore platforms. In this paper, the motion control technology of ROV is studied, the kinematics and dynamics of ROV are analyzed, the kinematics and dynamics models of ROV are established, and the degrees of freedom of the models are decouple according to the control requirements. The fluid damping coefficient of ROV was obtained using Fluent software, and an ROV control system based on sliding mode variable structure was designed. The saturation function was introduced into the sliding mode controller to reduce the adverse effects of buffeting. The classical PID controller, fuzzy PID controller, and sliding mode controller designed in this paper were simulated and analyzed by Simulink. A semi-physical simulation platform based on Unity3D was established. It can be seen from the simulation results and the pool experiment results that the performance of the sliding mode controller designed in this paper is better than the classical PID controller and the fuzzy PID controller. The sliding mode control method is used to control the ROV motion, which has better control effect and precision.