Motion control method of underwater vehicle with hydraulic thrusters
                                             TIAN Lie yu1, ZHOU Feng2, ZHANG Pei hao3, CHEN Zong heng1
(1.Guangzhou Marine Geological Survey, Guangdong University, Guangzhou 510760, China;2.Zhejiang Jingsheng M&E Co., Ltd., Shangyu 312300,China;3.Ocean College, Zhejiang University, Zhoushan 316021, China)

Abstract: Aiming at the heading control problems of underwater vehicle with hydraulic thrusters, the proportional hysteresis, the multi degree of freedom model of the robot, the design of the controller and so on were studied. A control method combining the thruster speed PI control and the heading PID control was proposed. The 6 degree of freedom model of Hama ROV was established in Matlab/Simulink, and a heading controller with the thruster speed PI loop was designed. This heading controller includes control handle input, a heading PID controller, thrust distribution and synthesis matrix, propeller rotation PI controllers. The simulation model was used to test the anti interference performance of the controller. The simulation results indicate that this combined PID controller can decrease the angle error caused by the thrust imblance of the thrusters, and has better control performance compared with normal PID controller.

Key words: hydraulic thrusters; PID control; speed loop; motion control