基于动力学分析的深海履带式采矿车行走打滑控制

Slip control of deep sea tracked miner based on dynamic analysis

在分析我国深海底海泥特性的基础上,利用膨润土模拟海泥,得到深海履带式采矿车牵引力和打滑率之间的关系。牵引力随打滑率增加而急剧减小,最终稳定在30 kN。通过对推土阻力、压实阻力、转弯阻力、水阻力的理论分析,建立履带式采矿车的动力学模型,提出了采矿车直线行走时打滑率i应≤20%的控制要求,并设计带模糊PID控制器的打滑率控制系统。利用Simulink软件,对控制系统进行仿真。仿真结果表明,所设计的打滑控制系统能够满足深海履带式采矿车行走控制要求,打滑率控制响应速度快、稳态性好,保证采矿车良好的动力性能。

Based on the analysis of the characteristic of the surface soil on the deep-sea bed, the relationship of the traction force and slip rate of the deep sea tracked miner is obtained. As the slip rate increases, the traction force decreases sharply. Also, the dynamic model of the tracked miner is established taking the bulldozing resistance, compaction resistance, steering resistance and water resistance in account. More importantly, a slip rate control system with a fuzzy PID controller is designed. By using Simulink software, a series of simulations are carried out to test the controller. As shown in the results, the slip rate controller is of fast and stable response, therefore, the validity of the controller is confirmed and can meet the control requirement, which is no more than 20%, and the dynamic performance of the deep sea tracked miner is ensured.