深海采矿车控制技术研究

深海采矿对人类具有重要的意义,目前尚处于原理性研究阶段,面临着很多技术难题和科学问题。由于试验的困难、技术瓶颈的存在,我们迫切需要对深海采矿技术进行广泛全面的探讨,有利于对必需技术进行提前储备。文中对深海采矿国内外研究现状进行了综述,对深海未知极限环境下采矿车建模与仿真、深海强作业条件下采矿车导航、采矿车下放姿态控制、稀软底强扰动采矿车高精度轨迹跟踪、集矿头位姿跟随控制、集矿系统故障诊断与容错技术等关键技术进行了探讨,指出了它们的困难所在与研究方向。

Review of Deep-sea Miner Control Techniques

Deep-sea mining is of great sugnificance to the mankind. It is now still at its principle research stage and faces many technical challenges and scientific problems. Due to the difficulties in test and the existance of technical bottleneck, it's urgent for us to make a wide and whole-sided discussion of deep-sea mining, which will be beneficial to the advanced reserve of necessary techniques. Review is made of the actualities of deep-sea mining both in and outside China. Discussion is made of the key techniques such as of the modelling and simulation of miner in deep-sea unknown limit environment, navigation of sea miner in terrible working conditions, altitude control of sea miner in dropping process, precise tracking of sea miner on soft seafloor, attitude control of miner head, and fault diagnosis and tolerant techniques of mining system. Their difficulties and the research orientation are pointed out.