The Anti-wave Control of Small Open-flame Underwater Robot
This article describes the research on the Anti-waveperformance of small open-frame underwater robot.Through a series of study and modeling,a computer-based numerical calculus was done on the motionround the longitudinal axis of a remotely operatingvehicle(ROV)in wave.In the practical application ofnear surface,as the manipulators of the ROV aregripping the object,the attitude of the ROV should bekept stable.To reduce the rolling amplitude of theROY,a control method based on the fuzzy algorithm isapplied to choke back.the rolling response processinduced by wave.By using the lateral thrusters on theROY,a rolling moment is applied to influence therolling response.By comparing the results between thesimulation and the numerical calculus,some effect canbe found.As the similar research on ROV attitudes inwave is seldom,this study is only a exploration.Finally,a new idea of the simultaneously control ofroiling and pitching is presented.
Heping LIU Zhenbang GONG Min LI
Department of Precision Machinery,School of Mechatronics Engineering and Automation,Shanghai Univers Electronic & Information Engineering College,Henan University of Science and Technology,Luoyang,4710
国际会议
厦门
英文
739-744
2008-11-17（万方平台首次上网日期，不代表论文的发表时间）