Prof. Yongshun Chen Profile

Prof. Yongshun Chen

SPIE Involvement:

Author

Publications (1)

This will count as one of your downloads.

You will have access to both the presentation and article (if available).

DOWNLOAD NOW

This content is available for download via your institution's subscription. To access this item, please sign in to your personal account.

Email or Username Forgot your username?

Password Forgot your password?

Show

Keep me signed in

No SPIE account? Create an account

Proceedings Article | 30 April 2024 Paper

Research on motion control system of underwater remotely operated vehicles

Yuhang Chen, Zhaohua Sun, Yongshun Chen

Proceedings Volume 13157, 131570Z (2024) https://doi.org/10.1117/12.3018047

KEYWORDS: Control systems, Model based design, Motion models, Robots, Control systems design, Modeling, Telecommunications, Sensors, Remotely operated vehicles, Kinematics

Read Abstract +

Remotely Operated Vehicles (ROV) is playing an increasingly important role in the process of human exploration of the ocean, and its motion control system needs to be stable, reliable, rapidly responsible and easy to use. This paper designs and implements a new type of motion control system for ROV. The architecture of control system includes QT upper controller to input motion control instructions and display the status information, companion machine Raspberry PI used as a communicate transfer station, and runs the designed control method, bottom controller MCU for controlling the speed of motors and receiving sensor data and sending them upward. Meanwhile the kinematics and dynamics model of ROV are established. Then, the model-based PID controller of depth and three attitude angles in YPR-model is designed and implemented. Its performance is verified by simulation in MATLAB. Finally, in swimming pool the experiment of depth and three attitude angles control using model-based PID and model-free PID are conducted and compared. Through experimental analysis, the practicability, stability and reliability of the motion control system and the model-based PID control method are verified.

My Library

You currently do not have any folders to save your paper to! Create a new folder below.

Folder Name

Folder Description

View contact details

UPDATE YOUR PROFILE

Is this your profile? Update it now.

Sign into your SPIE.org account

Don’t have a profile and want one?

Create an account on SPIE.org

Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks. You are receiving this notice because your organization may not have SPIE eBooks access.*

*Shibboleth/Open Athens users─please sign in to access your institution's subscriptions.

To obtain this item, you may purchase the complete book in print or electronic format on SPIE.org.

ORGANIZATIONAL
Sign in with credentials provided by your organization.

Organizational Username

Organizational Password

Show/Hide Password

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members:

Non-members: ADD TO CART

Keywords/Phrases

Search In:

Publication Years