COMPACT—PCI IPC用于深海集矿作业车两级控制系统

Compact - PCI IPC Control System for Deepsea Tractor

集矿作业车控制主要为对作业车行走速度、行走方向、行走轨迹和工作机构状态的控制;同时,对集矿作业车深海周边环境、部件工作状态等参数进行监测。鉴于深海作业车现场控制所需设备的密水和耐压要求,选用COMPAC-PCI IPC作为水下作业车在线自治控制主机和水面远程监控站,构成两级控制系统,实现了对作业车收放姿态监测及着底控制、作业车按预现划路径行走过程控制、作业车集矿机构作业参数优化控制、破碎机构控制与监测。

The control on the deepsea tractor focuses on its velocity, orientation-path clearance and collecting performance. Simultaneously,it monitors its relative parameters on deepocean operating environment and device working state. Considering the property on the water tight and anti pressure,the COMPAC -PCI IPC is chosen as the control host and remote supervision station. They form the two level control system on the vehicle. And it realizes the control to the vehicle attitude in a lifting -down procedure, to the path clearance between two planning paths, to the collector postture for optimizing the collecting parameter and to the crusher for a optimized crashing effect.