Six-degree freedom motion control system for operating type ROV

The invention, which belongs to the technical field of motion control of the unmanned underwater robot, particularly relates to a six-degree freedom motion control system for operating type remotely operation vehicle (ROV). The method comprises: an ROV hydrodynamic model is established; controlling forces and moment vectors of an operating ROV at six freedom directions are established; a motion state of the operating type ROV in a body coordinate system {b} is calculated; a kinematical equation of an ROV is established; an angular speed motion state of the ROV body coordinate system is converted into one expressed in a geodetic coordinate system; an angular displacement state of the ROV body coordinate system is converted into one expressed in the a geodetic coordinate system; and according to an inputted ROV expected course angle in the geodetic coordinate system, an ROV expected course angel in the body coordinate system is calculated. According to the invention, the process of controlling the motion and attitude changes of the operating type ROV by an external control input can be simulated vividly. The method has the characteristic of capable of simulating various motion and control parameter changing processes of an ROV during the underwater working process vividly.