Research on Motion Control of Smart Underwater Stirring Robot

Abstract

Aeration tanks are widely used in sewage treatment plants, and the most common configuration is activated sludge treatment plants. The aeration tank is an important part of the activated sludge process, which promotes the oxidation and decomposition of microorganisms by continuously blasting the sewage in the aeration tank. Stirring plays an important role in determining the overall performance of the biological reaction of the aeration tank. However, the current stiring method has a stiring dead zone and uneven oxygen concentration, causing sludge precipitation to affect the aeration effect of the bottom aeration pipe, and at the same time, the biological oxygen demand of the aeration tank is insufficient, which ultimately affects the overall evolution of the aeration tank. Work efficiency is reduced. This paper proposes a novel concept of underwater stiring robot, which is used in sewage treatment aeration tank stiring to prevent precipitation and promote uniform oxygen concentration. It has the advantages of high flexibility, low energy consumption, and low cost. According to the basic functional requirements, the dynamics and control system are analyzed and discussed, and the control technology suitable for aeration tank stirring underwater robot is proposed.