中文摘要：

为应对复杂的作业工况和海洋环境，研究了水下中型作业遥控机器人（ROV）的操纵控制运动．文章分析了作业型ROV的操纵特性，根据其基本的定向、定高和定深的航行能力需求，基于模糊PID方法的控制原理，为其配置了精度高、响应快的控制系统，建立了4自由度操纵控制运动模型，对定向、定高等运动性能的操纵进行仿真研究，通过水池实验验证了该控制方法的有效性．

英文摘要：

The research on manoeuvre and control of a mid-size ROV （remotely operated vehicle） was carried out to deal with complex ocean environment and manipulation conditions. The manoeuvre features of manipula- tion ROVs were analyzed,which usually requires the capacity of orientation keeping, depth keeping, and height keeping, and the control system was provided with the performance of high precision and fast response. A 4 - DOF （ degrees of freedom） motion model of a mid-size ROV was created based on fuzzy PID algorithm and the simulation on manoeuvre and control of orientation keeping and height keeping was run. The simulation result ac- cords with the trial in deep water tank, showing that the methods are effective.