摘要
由于深海环境的复杂性和不可预知性,深海钴结壳采矿车在行走作业时会受到多种干扰而跑偏。通过采用内外环控制策略,及时修正左右两侧履带的转速来消除方位误差,并基于数字虚拟样机技术,在ADAMS/ATV仿真软件中构建履带车模型,在EASY5软件中建立液压系统模型,在MATLAB/SIMULINK平台上建立控制系统模型,通过接口技术成功实现机电液一体的协同仿真。仿真结果验证了该控制方法的有效性和可行性。
Because of complication and unprediction of the deep sea environment, the cobalt-rich miner will deviate from the planning path under different kinds of disturbance. A control strategy is proposed to eliminate error through changing the velocity of each side of the vehicle. The mechanical model is built with ADAMS,hydraulic model is built with EASY5 and control model is built with MATLAB/SIMULINK. Through interface block of each software, collaborative simulation is successfully achieved. The simulation result proves that the control strategy could effectively eliminate the error.
出处
《现代制造工程》
CSCD
北大核心
2009年第10期92-96,共5页
Modern Manufacturing Engineering
基金
国家863计划项目(2006AA09Z232)
关键词
钴结壳采矿车
干扰
行走控制
协同仿真
cobalt-rich miner
disturbance
motion control
collaborative simulation
