The Research On Internet-based Remote Monitoring And Control System For Deep-sea Mining Vehicle

The popularity of Internet with the rapid development of control, communication and network technology greatly speeds up the integration of the computer network and control technology. So it is possible that Internet-based remote monitoring system for deep-sea mining vehicle is been constructed. Therefore the deep-sea mining vehicle can be controled by the land control center of the system. Meanwhile, large-scale resource can be shared by plenty of sites and a rich database is also formated. And knowledge-based decision can be made by operator on the land. At the same time, Deep-sea mining vehicle can be operated by people in the remote site. This system has broad application prospects and significance.Because the research in this field has not been deeply expanded, there is very little related articles. So on the basis of the research about Internet-based remote monitoring and control system for robot, similar to deep-sea mining vehicle, the architecture of the Internet-based remote control system about the deep-sea vehicle is designed. This architecture includes three parts:land monitoring and control center, mining ship monitoring subsystem, under-water monitoring and control subsystem. The related hardware device is also configured. At the same time, the delay existing in the channel of the monitoring network brings the decline of control quality. In the serious situation, the systme maybe fall apart. Therefore, the delay existing based-Internet monitorning and control system is analyzed. And this delay sequence can be expressed by AR model. The delay of the current time can be predicted through the LMS algorithm. To remove the bad affect brought by the delay, SMITH compensator is used in the network control system. And on the basis of the research about forward channel and feedback channel,Gfwp(s)and Gfbp(s) compensator is designed. According to the walking control model of the mining vehicle, this control method is simulinked with MATLAB software. The result indicats that this method can improve the control quality.In the end, this system software is designed. The software architecture includes these parts:land control center software, mining ship control subsystem and monitoring screen, the software of comunication, under-water control subsystem software.