适应富钴结壳微地形的采矿头控制系统设计及试验研究

大洋富钴结壳富含战略金属钴等元素,极具开采价值。然而富钴结壳厚度的变化及其赋存的海底微地形的复杂性使得其开采比较困难。为现有的适应富钴结壳微地形的采掘机构合理搭建控制系统,并针对该系统设计有效的控制算法成为目前的关键技术。针对采矿头的特点,对其控制系统的研究与设计,控制系统共由5部分组成:液压系统、微地形检测装置、通讯装置、控制和监测装置及数据存储装置。根据深海实际开采要求采用了广泛用于采掘机械的微控制器和监视器,设计了参数模糊自整定PID控制器。在深水池进行了模拟料切削试验。结果表明,该控制系统各部分协调性好,具有适应微地形的能力。

Design and Experimental Research of Control System for Cutting Header to Adapt to the Microtopography of Cobalt-Rich Crust

Cobalt-rich crusts richly contains strategic metal cobalt,has highly exploiting value.But the exploition of cobalt-rich crust is more difficult because of the variation of its thickness and the complexity of seafloor microtopography.It is very important for the exploition of cobalt-rich crust to design an effective control system for cutting header to adapt to the microtopography of the cobalt-rich crust and develop a valid control strategy for the control system.The control system of a drum-type cutting head was designed and studied.The control system mainly consists of 5 units:hydraulic unit,microtopography-detecting unit,communication unit,control and monitoring unit and data storage unit.According to the needs of actual exploitation of deep sea cobalt-rich crust,a microcontroller and a monitor that are widely used to mining and excavating equipments are used to the control system.A parameter fuzzy self-adjusting PID controller has been designed for the control system.The cutting experiment of mimetic crust in a deepwater pool was carried out.The results showed that the compatibility of each unit of this system is very good,the control system of the mining device can adapt to the microtopography well.