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Walking control study deep-sea mining collector model cars with virtual simulation

Author: FengLeiHua
Tutor: GuiWeiHua
School: Central South University
Course: Control Theory and Control Engineering
Keywords: Deep-sea mining Hydraulic system Fuzzy PID Control VRML VR Toolbox
CLC: TD424
Type: Master's thesis
Year: 2005
Downloads: 102
Quote: 2
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Abstract


The Mineral Collector is an intelligent mechanical collected a depth of 5000-6000 meters undersea manganese nodules to set mine Walking a direct bearing on the success or failure of the mining of the ocean . Due to the deep ocean mining machine is bulky and not easy to trial and research . Therefore , the members of our group has developed a mineral collector model cars , as the object of the laboratory studies . Based on the mineral collector model cars , to carry out the the mineral collector hydraulic system modeling and controller design , and engineering significance . In this paper, the background of the deep ocean mining machine , mineral collector walking the structure and working principle of the control mechanism , and mineral collector model cars hydraulic control system is designed on the basis of the establishment of the various parts of the mathematical model in order to control algorithm simulation , to provide a basis for the design of mining machine walking controller . The walking model car driven electro-hydraulic proportional Hydraulic Motor is a complex nonlinear high-end system , precise mathematical model to describe the control law . Therefore , a single control can not reach the mineral collector walking the requirements . Crawler for mining machine speed control , and design a crawler speed fuzzy PID controller inner ring . Walking deviation for mining machine , design the fuzzy outer loop controller , and added an intelligent integrator and fuzzy control in parallel to eliminate static error and limit cycle oscillations . Since the digital simulation experiments are built on the basis of the model car , there is a gap with the original system . Papers using the virtual simulation technology , virtual world combined with the mathematical model of the model of the car with the mining machine . Intuitive control model car can be is closer to the actual system , and optimization of the parameters of the controller .

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CLC: > Industrial Technology > Mining Engineering > Mining machinery > Mining machinery > Seabed deposits and mining machinery
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