Dynamic Modeling and Cascade PID Motion Control of an Inhalation-type Underwater Cleaning Robot

This paper studies an underwater inhalation-type cleaning robot designed to remove floating garbage. The dynamic model of the underwater cleaning robot is established to show the relationship between the speed of the propeller and the motion state, where the added mass and the viscous resistance coefficient during translational motion are obtained by the empirical formulas, and the added moment of inertia and the resistance moment coefficient are determined using Fluent software. Then a cascade PID motion control strategy with a position outer loop and a speed inner loop is proposed for this inhalation-type garbage cleaning robot to improve control performance. Finally, the effectiveness of the obtained results is demonstrated by simulations in MATLAB/Simulink.