| 基于滑转率的深海集矿机模型车防滑控制 |
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| 引用本文： | 王随平,韩冷飞,张艳存. 基于滑转率的深海集矿机模型车防滑控制[J]. 自动化与仪表, 2008, 23(6): 29-32 |
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| 作者姓名： | 王随平 韩冷飞 张艳存 |
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| 作者单位： | 中南大学信息科学与工程学院,长沙,410083 |
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| 摘 要： | 建立了液压传动履带式深海集矿模型车的驱动数学模型,以滑转率为调节对象,提出了基于积分分离PID控制的深海集矿机防滑控制算法。控制器通过调节电液比例阀的开度间接调节液压马达的输出转矩,从而使集矿机的滑转率稳定在期望值附近。基于Simulink的仿真表明了算法的有效性。
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| 关 键 词： | 深海集矿模型车 液压传动 滑转率 防滑控制 |
| 文章编号： | 1001-9944(2008)06-0029-04 |
| 修稿时间： | 2007-09-24 |
Research on Anti-slip Control System for Deep Sea Mining Vehicle |
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| WANG Sui-ping,HAN Leng-fei,ZHANG Yan-cun. Research on Anti-slip Control System for Deep Sea Mining Vehicle[J]. Automation and Instrumentation, 2008, 23(6): 29-32 |
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| Authors: | WANG Sui-ping HAN Leng-fei ZHANG Yan-cun |
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| Abstract: | A dynamic model on deep sea mining model vehicle which is drove by hydraulic system is established.An integral-separated PID controller is designed to decrease the slip of the vehicle through adjusting the slip ratio of the vehicle.The designed controller can adjust the electric-hydraulic proportional directional valve to control the torque of the motor.Based on this control the slip-ratio will be around the anticipant level.The simulation results show the availability of this method. |
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| Keywords: | deep-sea mining model vehicle fluid drive slip ratio antislip control |
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