大洋集矿机轨迹跟踪自适应PID控制

Deep-sea Nodules Collector Tracking Fuzzy PID Control

为提高矿石采集率,大洋采矿工艺要求集矿机能恒速高精度跟踪规划的路径。洋底质稀软、地形复杂、泵矿软管扰动严重,履带式集矿机液压比例控制系统存在较强的时变和非线性,使大洋集矿机轨迹跟踪控制成为一个重要且迫切需要解决的课题。本文介绍了大洋集矿机行走系统的结构和工作原理,并建立了电液比例阀、液压缸、变量泵和液压马达的分析模型。提出用自适应模糊PID控制算法来弥补非线性和不确定因素的影响,提高集矿机的轨迹跟踪精度。仿真实验结果表明,该算法具有自学习、自适应能力,能抵抗液压系统参数波动,负载扰动的能力明显增强,具有比常规PID算法更加满意的控制效果。

Deep-sea nodules collecting technology bring forward a strict need for tracking control of nodules collector. It includes the accuracy and speediness of tracking, adaptability to system parameter changing, robustness to uncertain disturbing. The structure and operating principle of deep-sea miner tracked hydraulic system were introduced, and analysis model was set up. According to the work need of miner drive system, fuzzy-PID control method was proposed. Normal PID control algorithm and fuzzy-PID control algorithm was compared, the result shows that the improvement way is effectiveness. The controller works well and meets the request of deep ocean mining technology.