Articulated Tracked Vehicles Scheduled Path To Walk The Control Study

As one of the key equipment of deep-sea mining, the articulated tracked vehicle will walk on the seabed mountains. Because the seabed mountain terrain is complex and unknown, the vehicle will deviate from the prescribed mining path when it walks on the seabed. In that case, to develop the control technology of tracking predetermined path for the articulated tracked vehicle is significance. In this paper a further study of the articulated tracked vehicle tracking predetermined path has been carried out.In this paper a virtual prototype of the articulated tracked vehicle has been built. A double loop control scheme which includes a speed control as inside loop and a orientation control as outer loop was designed.Using the theory of the variable universe fuzzy control, a adaptive fuzzy controller for correct the vehicle's orientation deviation was designed. An enfolded cavity path generate module, a speed assign module and a pivot steering was designed. At last, a mechanic and control system co-simulation has been built.Several simulation tracking prescribed path work in the typical environment such as across single edge, track line, walk along with the prescribe mining path was carried out. The result of these simulation shows:the articulated tracked vehicle can correct the deviation quickly and track the prescribed path when the deviate from the prescribed path because disturbance of the environment. The module of generate path module can produce the correct prescribed path. In a word, the control module and the control algorithm are effective.Using the LabVIEW software develop platform, a auto control system based on the simulation control model for the articulated tracked vehicle was developed. The system can realize the vehicle's control of tracking prescribed path, at the same time, a monitor interface was designed and realize to monitor the state of the vehicle online.The vehicle's walking experiments such as tracking line on sand land and across single edge in snow land were carried out. The result of these experiment shows:the control system for track prescribed path is effective. It still can track the prescribed path when the vehicle encountered the disturbance of environment.