Research And Design Of Tracked Experimental Vehicle Tracking On Soft Road

As an important part of polymetallic nodule mining system, the self-propelled seafloor tracked miner run on the seabead of6000meters underwater. The seafloor sediment with low loading and low shear is completely different from land, leading to subsidence and slippage problems in the running process of miner. And the undersea environment is complex. Therefore, it is currently the main content of deep-sea mining research that how to control the miner run safely and stably on the seabead according to a predetermined trajectory, and achieving efficient mining. A tracked experimental vehicle tracking on soft road is developed, in order to research the traveling problems of miner, such as, anti-slip control, positioning control, path planning and path tracking control and so on.Technical requirements and a general scheme of the tracked experimental vehicle is proposed according to the experimental requirements and basic laboratory conditions, after analysis to the basic composition of deep-sea miner and the condition of Chinese miner. The tracked experimental vehicle is composed of track system, power and transmission system, control system, power supply system.The structure and parameters of track plate are mainly researched, during the process of developing the key mechanism of the tracked experimental vehicle. And Some parameters such as the torque of driving shaft are obtained. The walking performance of tracked test vehicle tracking on soft road was simulated in ADAMS/ATV. The design rationality of tracked test vehicle was verified.The hardware and software of the control system is designed, after analysis on the function of measuring-controlling system and monitoring-control system. And some measures are taken to avoid electromagnetic interference to the electrical equipmen mounted on the traced experimental vehicle from motor servo driver.A experimental study on the tracked experimental vehicle is carried out in the condition of soft road, after the experimental vehicle is produced. The experiment results show that the tracked experimental vehicle can run stably, the control system is reliable and the experimental data can be obtained. Therefore, the tracked experimental vehicle can be as the experimental platform to research the traveling problems of miner.