Stability Analysis of Underwater Engineering Remote Operated Vehicle

摘要

In order to improve the running performance of the underwater engineering ROV (Remote Operated Vehicle), it's stability under different swimming motion states was analyzed. Firstly, the kinematic and dynamic model of the system are established. Then the Lyapunov exponents of the ROV in the six degrees of freedom directions of roll Angle, pitch Angle, steering Angle, x, y and z axis moving were obtained. And finally, the stability of ROV under vertical, steering and direct navigation motion states driven by different thrust conditions is analyzed. The driving system of 8-thruster underwater robot is proved to be stable by simulation.