深海集矿车速度控制与轨迹跟踪设计及实现
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摘要
对履带式集矿车进行了速度控制与轨迹跟踪系统设计,针对左右两边履带在相同输出情况下速度不一致现象,运用模糊控制调整左右履带速度差。根据长基线水声定位系统的原理设计实验室水池定位系统,在进行水下试验时实现对集矿车的精确定位与轨迹跟踪。实车水下试验结果证实,速度测量精确且稳定,加入模糊控制后左右履带速度达到平衡;水池定位系统可实现对集矿车的轨迹跟踪,行走轨迹表明集矿车可在水底自动直线行走,为集矿系统进行海试提供了基础保障。
A speed control and trajectory tracking system was designed for the newly developed caterpillar-type mining vehicle. Due to the speed difference between the left and right tracks with the same output value set in the system, the speed of caterpillar was adjusted by the fuzzy control. According to the principle of long baseline acoustic positioning system, a laboratory pool location system was designed to achieve precise location and trajectory tracking of the mining vehicle during the underwater test. The field test results showed that the velocity measurement was accurate and stable, and the speed of the left and right track reached the balance after the fuzzy control. It is concluded that the pool positioning system can track the trajectory of the mining vehicle, and the running trajectory indicates that the mining vehicle automatically can run straight at the bottom of the pool, which can provide a basic guarantee for the sea trial of the mining system.
A speed control and trajectory tracking system was designed for the newly developed caterpillar-type mining vehicle. Due to the speed difference between the left and right tracks with the same output value set in the system, the speed of caterpillar was adjusted by the fuzzy control. According to the principle of long baseline acoustic positioning system, a laboratory pool location system was designed to achieve precise location and trajectory tracking of the mining vehicle during the underwater test. The field test results showed that the velocity measurement was accurate and stable, and the speed of the left and right track reached the balance after the fuzzy control. It is concluded that the pool positioning system can track the trajectory of the mining vehicle, and the running trajectory indicates that the mining vehicle automatically can run straight at the bottom of the pool, which can provide a basic guarantee for the sea trial of the mining system.
引文
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[10] 张国龙,王小宁.基于FPGA的宽频带水声定位信标信号发射系统设计研究[J].船舶电子工程,2017,37(2):130-134.
[2] 龚德文,何成,黄瑞铭,等.海试集矿机控制系统详细设计报告[R].长沙:长沙矿冶研究院有限责任公司,2017.
[3] 阳宁,高宇,清新明,等.大洋多金属结核中试集矿系统1000 m海上试验总体设计[R].北京:中国大洋协会,2012.
[4] 王伟,阳宁,龚德文,等.深海采矿海上平台模拟系统的控制研究[J].矿冶工程,2009(3):16-18.
[5] 龚德文.深海集矿机测控系统的研究开发[J].矿冶工程,2004(3):8-11.
[6] 双志,李力,张敏.利用LabVIEW的海底集矿车行走控制系统研究[J].现代制造工程,2011(2):16-20.
[7] 刘可峰,连琏,曹俊亮,等.基于模糊PID方法的ROV操作控制仿真[J].江苏科技大学学报(自然科学版),2015,29(1):70-75.
[8] 张敏.基于模糊神经网络的海底采矿车路径跟踪行走控制研究[D].长沙:中南大学机电工程学院,2010.
[9] 范士波.深海作业型ROV水动力试验及运动控制技术研究[D].上海:上海交通大学船舶海洋与建筑工程学院,2013.
[10] 张国龙,王小宁.基于FPGA的宽频带水声定位信标信号发射系统设计研究[J].船舶电子工程,2017,37(2):130-134.