Study Of Path Tracking And Point Stabilization Driving Control For Seabed Mining Vehicle

Abstract:As an important carrier of deep sea mining system, seabed mining vehicle works under thousands meters depth of water in complicated and unknown ocean environment, the driving control is one of the important technical problems. In this paper, based on the practical working ways, path tracking and point stabilization control are studied, and it is of great significance in the deep sea mining system.In the mining condition of tracking straight, path tracking control is studied. The mining vehicle posture error is analyzed, a control law of path tracking is put forward, and the posture error is proved to converge to zero by Lyapunov function method. Based on ADAMS/ATV, mining vehicle dynamics model is established, combined with MATLAB/Simulink software platform, the Mechanical-Control co-simulation of mining vehicle path tracking control is carried out, the simulation results demonstrate that the control law is correct.For the condition of mining vehicle transforming between different paths and positions, it is necessary to do research on point stabilization control. In polar coordinates, posture error is analyzed, a control law with appropriate state variables for point stabilization is put forward, and Lyapunov function method is used to analyze the stability of the system. On the base of MATALB/Simulink, a controller module is built, at the same time, mining vehicle dynamics model, chosen as controlled object, is established basing on ADAMS/ATV, Mechanical-Control co-simulation of mining vehicle point stabilization control is carried out, the simulation results show that the point stabilization control law is feasible.An articulated tracked vehicle is chosen as experiment platform, according to the path tracking and point stabilization control laws, control program for mining vehicle automatic driving is written by Lab VIEW software, path tracking and point stabilization control experiment are carried out, the result shows that the designed control laws are correct and the automatic control system of driving is effective.