Articulated Tracked Vehicle Electro-hydraulic Co-simulation Study

Cobalt-rich crust has a huge economic value which exists mainly on the surface of the marine hills where the terrain is very complex.So the running machine should have a better performance of high traction, maneuvering ability and advanced mobility in difficult terrain.This article selects articulated tracked vehicle as the running machine for cobalt crust mining and puts forward the whole design plan,including the mech-nical structure,the hydraulic driven system and the control system. Based on the software ADAMS/ATV,the multi-body dynamics model of articulated tracked vehicle has been established.Through the detailed analysis of load acting on the articulated tracked vehicle under different work condition,the main parameters of the hydraulic system is confirmed.Based on the software Msc. EASY5,the hydraulic model has been established.In order to solve the problem that flow is dependent on the load ,a control arithmetic is proposed and is proven correct by the simulations.During the tracking process on the sea-bed,it's easy to deviate from the scheduled liner path because of many coupled effects.This paper put forward a kind of control arithmetic which is combined by the inner compensation and limitation of slipratio and outer fuzzy controller.After that,the control model is established by Matlab/Simulink.Using the interface module of each software,the co-simulation among the dynamic model of articulated tracked vehicle established by ADAMS/ATV ,the hydraulic system model by Msc.EASY5 and the intelligent control system model by Matlab/Simulink is successfully realized.Based on the platform, the performance of liner path tracking is validated under different conditions.The simulation result has showed that the vehicle could easily eliminate the path error.Through comparing the result of experiment with co-simulation under the condition of non-load running and hard road waling, the effectiveness of the co-simulation is verified.