海底采矿集矿机智能控制系统的研究

Research on Intelligent Control System for Submarine Mining Collector

海底采矿集矿机需在5000—6000m的海底沿预设的路线进行采矿作业。由于海底地质环境、海流、输送管道和电缆等诸多因素的影响，其行走路径的控制至关重要。当其方向发生偏移时，采用常规的方向控制，即使修正方向后，也会产生平移误差。把单纯的方向控制变成了具有人工智能的行走路径控制。控制结构上采用方向、速度、行走路径的三环串级控制。从根本上解决了平移误差问题。

Submarine mining collector is needed to work at 5000 - 6000 m deep from sea level according to a preset route. Due to effects of such factors as submarine geological environment, sea current, transporting pipes and cable etc, the control of traveling path is the most important. When the conventional direction control method is used and the traveling direction is changed, even if the direction can be rectified, the error in lateral movement would be produced also. A pure direction control was changed into traveling path control based on artificial intelligence. Three - ring in series control method, i.e. direction - speed - traveling path control, was used to solve a problem on lateral moving error basically.