Research and Application of Attitude Control and Stability Adjustment Technology for Underwater Robot Platform

摘要

Abstract This research is mainly aimed at the difficulty in maintaining the stability of the position and posture of underwater visual equipment, and it is unable to provide reliable images for underwater search and salvage rescue operations. Investigating the existing mature technology and scheme, combined with the characteristics of the underwater operation of the visual equipment and based on the comprehensive analysis, a set of motion attitude stability analysis theory suitable for the underwater platform is proposed. Combined with various control theories, the motion control equations of underwater robots are established, and the optimal control method is designed. The control method is verified by computer simulation.The research results of the project can provide a reliable technical support and decision-making means for underwater search and salvage work, improve the automation level of underwater operations, reduce the difficulty of underwater operations, and improve the comprehensive response capability and technical level of deepwater search and rescue salvage levels.