Attitude Control System of Underwater Intelligent Inspection Vehicle
- Release time:2022-08-08
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Affiliation of Author(s):
Northeast Forestry University
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Teaching and Research Group:
School of mechanical and electrical engineering
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Journal:
UPB Scientific Bulletin, Series D: Mechanical Engineering
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Place of Publication:
Romania
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Key Words:
underwater vehicle; PID control; fuzzy PID control; visual identity
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Abstract:
Underwater intelligent inspection robot plays an important role in civil and military fields. This paper presents an attitude control system of underwater intelligent inspection robot, which adaptively adjusts its attitude and makes it drive safely in the target direction. A hardware system based on STM32 composed of a posture sensor with positioning function, a pressure sensor and a machine vision circuit board is designed, a fuzzy PID algorithm combined with visual recognition is used. Allows the robot to adjust its posture in real time underwater to achieve precise operations. Experiments show that the attitude control system using the combination of software and hardware reduces the lateral and longitudinal attitude angle errors over 50% in the moving state and over 30% in the static suspension state compared with the traditional scheme.
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First Author:
张剑
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Indexed by:
Journal paper
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Discipline:
Engineering
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Document Type:
J
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ISSN No.:
1454-2358
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Translation or Not:
no
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Date of Publication:
2022-01-01
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Included Journals:
EI
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