【目的】为了提高遥控水下机器人(Remote Operated Vehicle，ROV)在复杂水下环境的姿态控制性能，开展了多电机协同推进的ROV姿态控制新方法研究。【方法】首先对多电机系统的结构、算法分别提出了一种基于PID速度补偿器的偏差耦合结构和一种新型非奇异终端滑模控制算法，并设计了一种新颖的基于多电机协同推进的ROV 姿态控制方法。然后，建立ROV的运动学和动力学模型，并开展推进器组推力建模分析、解耦简化ROV动力学模型研究。最后设计了ROV滑模姿态控制器。【结果】仿真结果表明，本文所提出的结构、算法提高了多电机系统的抗干扰性、同步性和快速响应能力，提高了ROV姿态控制系统的稳定性和鲁棒性。【结论】该方法可为ROV姿态控制提供一种新的可用方案。
[Objectives] In order to improve the attitude control performance of Remote Operated Vehicle (ROV) in complex underwater environments, a new method of ROV attitude control with multi-motor coordinated propulsion was carried out. [Methods] First, for the structure and algorithm of the multi-motor system, a deviation coupling structure based on PID speed compensator and a new non-singular terminal sliding mode control algorithm are respectively proposed, and a novel ROV attitude based on multi-motor cooperative propulsion is designed. Control Method. Then, establish the ROV kinematics and dynamics model, and carry out the thrust analysis of the thruster group, and the study of the decoupling simplified ROV dynamics model. Finally, the ROV sliding mode attitude controller is designed.[Results] The simulation results show that the structure and algorithm proposed in this paper improve the anti-interference, synchronization and rapid response capabilities of the multi-motor system, and improve the stability and robustness of the ROV attitude control system. [Conclusions] This method can provide a new available solution for ROV attitude control.