基于ANFIS的海底采矿车行走控制

Moving Control of Sea-Bed Mining Vehicle Based on ANFIS

针对海底钴结壳采矿车在采矿过程中越过复杂地形时会产生偏离预定路径的问题,提出一种基于ANFIS的海底采矿车直线路径跟踪控制方法,根据训练数据,设计模糊神经网络路径控制器,从而避免专家系统知识库难以获取和精确数学模型难以建立的困难。在此基础上,建立内环采用PID速度控制和外环采用ANFIS控制的机电直线路径行走控制模型,开展海底采矿车越单边障碍时的联合仿真研究,仿真结果表明所提控制方法的有效性和所建行走控制模型的正确性。

Due to the problem of the sea-bed mining vehicle deviating from the prescribed path in the process of working , a kind ofcontrol method of linear path tracking based on adaptive neuro-fuzzy interence （ANFIS） is presented, and the fuzzy neural network controller is designed according to training date, thus avoiding the difficulty of establishing the expert knowledge base and the accurate mathematical model in the process of control. On this basis, the electro-mechanical travelling control model of inner loop using PiD speed control and outer loop using ANFIS path control is established. The simulation which is about the vehicle deviating from the prescribed path when climbing over unilateral obstacles is achieved. The simulation results show the correctness of the model and the validity of the proposed method.