Deep-sea Mining Vehicle Speed Control

Seabed mining vehicle is hydraulic drive, low speed and tracked, which runs along s-shaped path. Because of the unknown and complicated environment, uneven and extra soft seabed sediment, the vehicle works with high slip and big uncertain moving state change.Seabed mining vehicle hydraulic drive model is built in the thesis. Fuzzy PID controllers are also designed, of which the parameters are able to be adjusted online. The moving state equation of the vehicle is established. Propose the online calculating models of the key moving parameters. Finally, A principal and subordinate speed control system of the vehicle is presented and made a simulation.The main research achievements include:(1)Seabed mining vehicle hydraulic drive model is built and simulated by MATLAB/Simulink. Then, the frequency characteristic is analyzed.(2)Aiming at properties of high rank, high nonlinearity for the Seabed mining vehicle hydraulic drive system, fuzzy PID controllers based on MATLAB/Simulink is designed.(3)Establish the moving state equation of Seabed mining vehicle. In addition, the online calculating models of the key moving parameters such as slip rate and effective radiuses are proposed.(4)Put forward a control method for Seabed mining vehicle moving to targeted state. Based on this research, a principal and subordinate speed control system of the vehicle is presented and made a simulation.The research results of simulation show that with external disturb, Seabed mining vehicle can run straightly or swerve for the target in advance. The system can achieve the requirement of control precision.