Deep-sea Mining Trucks Passing Control Technology

Deep sea mining is an extremely complex technological process. The deep sea mining vehicle is a kind of pro-node intelligent machinery of the deep-sea mining system that walks under the sea and collects poly-metallic nodules about 6km from sea surface. As the servo center of the whole mining system, factors such as the walking style, the walking algorithm and non-structured deep sea environment can affect the function of the vehicle. Therefore the study of the mining vehicle's walking control technology is significantly important.Based on the full understanding of the structure and technical characteristics of the deep sea mining vehicle, this research combines the characteristics of deep sea sediment and the properties of marine soil mechanics and analyzes thoroughly about the operating principle of short baseline's positioning and measuring system under the acoustic foundamentals of short baseline, the structure of the positioning and measuring system of the short baseline, the methods for dealing with the influences of various ocean noises on the sonar positioning system, and the data fusion technology for dealing with the distance-measuring error caused by delay.After discussing the components of fuzzy rules of the fuzzy controller's structure model, the logic operations of the fuzzy rule package, the mapping of real value on the fuzzy set, and the mapping of fuzzy set on the distinct area, the author combines the expert system comprised of experience of operating track vehicle manually for dealing with with course angle error and the expert rules of the speed adjustment for the left and right tracks, takes advantage of fuzzy controller, and achieves the absolute speed of the vehicle and the closed loop control of the course angle. The author also decides a fuzzy system that uses error e and error change rate e_c as inputs, and control amount u as output. The author establishes membership function according to the control needs of the mining vehicle, induces fuzzy control rules, and carries out de-fuzzy treatment to the fuzzy data by taking advantage of gravity method. This research carries out simulation experiment under Matlab environment and the simulation result shows that individually designed fuzzy control algorithm of the mining vehicle can effectively make the mining vehicle follow the planned paths. The control accuracy of its beeline track of walking meets the requirements of deep-sea walking, which verifies the feasibility and effectiveness of the algorithm.