Articulated Tracked Submarine Working Vehicle To Walk And Control The Simulation Study

The cobalt crust miner is the basal nuclear unit of a mining system. The running machine walks on complex terrain, and carrying many equipments. So the running machine has the performances of nicer motion characteristics,traction,stability and dependability.This paper puts forward the technical concept of the miner for cobalt crust on the complicated terrain seamount, which the cobalt crust miner is a kind of the tracked vehicle with articulated steering.Based on the theory of multi-rigid body, construct the dynamic model of the running machine. And describe the Vehicle-Terramechanics of the marine hills.Based on the ADAMS/View, ADAMS/ATV, construct the virtual type model of the running machine.According to the Vehicle-Terramechanics and landform of the hills, construct the virtual type of the marine terrain, including obstacles, ditches, slope.Conduct the simulation of the running machine walk of virtual type lands. And analysis some kinematics and dynamics parameters of the vehicle. Predict and evaluate the performance of the running machine.Empolder the interface of ADAMS/ATV and MATLAB, and conduct the co-simulation of ADAMS/ATV and MATLAB for path tracking of the cobalt crust miner using fuzzy self-adapting PID control method.The results of the simulation indicate that the cobalt crust miner can meet the demands of deep sea crust mining. The running gear can climb vertical obstacles, ditches,slops smoothly. The running gear has good performance of maneuverability. The interface and fuzzy self-adapting PID control method work well, the running gear can approach to the target route. cobalt crust miner,...