Design and Analysis of Depth-Fixing Motion Control System for Underwater Robot

According to the needs of remotely operated vehicle (ROV) operation tasks, aiming at the stability, reliability and anti-interference ability of ROV depth-fixing motion, the depth-fixing motion control of ROV is studied. The designed depth-fixing control system is mainly composed of depth sensor, attitude detection sensor and central processor. Referring to the structural parameters of the ROV and the designed propeller distribution method, the depth-fixing motion control model of the underwater operating ROV is established. In the Simulink simulation environment, combined with the traditional PID control, the simulation analysis of the depth value under the unit step response is carried out, and the disturbance is added to further confirm the stability and anti-disturbance of the depth-fixing motion control system.