Ocean Mining Mining Machine Walking The Study Of Intelligent Controllers

The nodules collector is an intelligent machine that can pick up the multiple-metal nodules on deep ocean floor with complicated and adverse circumstances. The research and design of the nodules collector is a large and complicated system engineering. This paper mainly studies the nodules collector's traveling controller.This paper analyses the structure and work principle of the nodules collector's control framework, and the mathematic models of the hydraulic motor and electro-hydraulic proportional valves are got So the control arithmetic can be simulated.This paper compares various results if the traditional PID, fuzzy control, neural network and expert system can be used in the nodules collector's traveling control. The good result can't be got only with one control arithmetic. So intelligence integrated controL system is used.In order to control the speed of pedrail, the inner controller based on the fuzzy neural network is designed. In order to control the error of the nodules collector's travel, the outer controller based on expert discoupling and fuzzy-integral technology is designed. Because of the bug of digital simulation, the up-to-date HIL(hardware-in-the-loop) technology is introduced. The nodules collector's traveling controller can be simulated by xPC. The paper also introduces the design of hardware and software of the nodules collector's traveling controller.The simulation to the nodules collector's traveling controller shows that the controller with self-learn and self-adapt can control intelligently the nodules collector's travel and meet the request of deep ocean mining safely, reliably and stably.