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Simulation on manoeuvre and control of ROV based on fuzzy PID algorithm

Liu Kefeng;Lian Lian;Cao Junliang;Wang Qiuzhi;State Key Laboratory of Ocean Engineering,School of Naval Architecture,Ocean and Civil Engineering,Shanghai Jiao Tong University;School of Naval Architecture and Ocean Engineering,Jiangsu University of Science and Technology;  
The research on manoeuvre and control of a mid-size ROV( remotely operated vehicle) was carried out to deal with complex ocean environment and manipulation conditions. The manoeuvre features of manipulation ROVs were analyzed,which usually requires the capacity of orientation keeping,depth keeping,and height keeping,and the control system was provided with the performance of high precision and fast response. A 4-DOF( degrees of freedom) motion model of a mid-size ROV was created based on fuzzy PID algorithm and the simulation on manoeuvre and control of orientation keeping and height keeping was run. The simulation result accords with the trial in deep water tank,showing that the methods are effective.
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