深海集矿车速度控制与轨迹跟踪设计及实现

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。

Design and Test of Speed Control and Trajectory Tracking for Deep-sea Mining Vehicle

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.