The bow and depth motions of the remote operated vehicle(ROV)system with cable are characterized by strong nonlin-earity and uncertainty of the operating environment,etc.In view of the motion characteristics of the ROV,a motion control model was constructed and simplified,and the adaptive S-plane control method was constructed to control the bow and depth,the stability of the control method was proved by using Lyapunov's stability criterion,and the stability and control quality of the controller method was veri-fied by simulation.Meanwhile,compared with the S-plane control method,the adaptive S-plane control method has better dynamic and static performance,fast adjustment speed,and strong stability,and it can accurately control the ROV motion.
关键词
ROV/自适应S面控制/艏向控制/深度控制
Key words
remote operated vehicle(ROV)/adaptive S-plane control/bow control/depth control
维普
万方数据