海底机器人自动跟踪预定开采路径控制

SEAFLOOR ROBOT'S CONTROL ON TRACKING AUTOMATICALLY PLANNING MINING PATHS

针对深海矿产资源多金属结核采矿系统关键技术海底机器人在复杂阻尼耦合作用下左右履带极易打滑,难以以预定行走速度自动跟踪预定开采路径的难题,利用ADAMS/hydraulics和Matlab/simulink软件,建立我国1000m海底机器人行走液压系统仿真模型。在考虑随机打滑率干扰影响和深海信号采集延迟因素下,建立采用PID控制履带左右速度实现预定行走速度模型和采用模糊控制实现自动跟踪预定开采路径模型,将二者形成内外环联合控制。开发海底机器人在复杂阻尼耦合作用下以预定速度自动跟踪预定开采路径的控制模型和算法,实现ADAMS/hydraulics与Matlab/simulink联合仿真,完成海底机器人以不同预定速度自动跟踪不同预定开采路径的多种工况的仿真。仿真结果表明,海底机器人以预定速度自动跟踪预定开采路径的性能良好,满足我国深海多金属结核采矿系统的开采要求。

It is difficult that the seafloor robot in the mining system of poly-metallic nodules on deep seafloor moves along the planning mining paths, because the seafloor robot is acted by the complicated coupling damp, its left and fight tracks are slip easily. Based on ADAMS/hydraulics software, the simulation model of the moving hydraulic system of China＇s 1 000 m seafloor robot is built. Taking into account the infuences of the random disturbance of its left and right tracks＇ slip ratios by the complicated damp coupling effect and the hysteresis of the obtained signal by the sensors and sonars in deep water, with Matlab/Simulink and ADAMS/hydraulics software, the planning velocity control model by PID controllers and the planning path-tracking control model by the fuzzy logic controller of the seafloor robot are built. After both of them are combined with the mode control of the inner and out loop, the tracking automatically planning mining paths＇ control model and arithmetic of 1 000 m seafloor robot are established and developed. The co-simulation is carried out successfully between the models of ADAMS/hydraulics and Matlab/simulink. The simulations of the various operation situations combining the different planning velocities with different planning mining paths are accomplished in the developed control model, respectively. The simulated results show that the seafoor robot has better property of the tracking automatically planning mining paths to meet the demand of the mining system of poly-metallic nodule.