The Research And Design Of Mining Vessel Positioning Control System

With the continuous progress of social science and technology,automation technology has been more and more widely used,people pay more attention to the control accuracy and efficiency of automation.Especially in the industrial control system,the accuracy and efficiency of the control system is particularly important.In this paper,taking the hydraulic shearer of Xinjiang Lop Nur Potassium Salt Company as the research object,the process of the water mining technology is discussed,the control system of the walking positioning of the water mining vessel is mainly studied,the relationship among the hydraulic shearer,the anchor and the quayside wharf is introduced,and the differential positioning technology is used to provide positioning data for the positioning system of the water mining vessel to ensure the accuracy of the potassium salt harvesting.In view of the characteristics of dispersed salt ponds and unstable position of water mining vessels in Salt Lake area,the method of transmitting position signals by radio is adopted to improve the long-distance and high-precision communication between base station and mobile station of positioning system.Considering that the underwater mining is adopted by the Mining Vessel,and the cutting head used in the excavation can not use naked eyes to dig the depth under water,a set of subsystem of depth control is designed to set the depth of the excavation and harvesting.Traditional PID control is often difficult to meet the time-varying and high-precision requirements of the control system,so two improved methods of PID are put forward.The RBF neural network is used to tune the PID controller and the fuzzy control PID is used to adjust the control mode.The methods of cylinder control and differential angular velocity control of hydraulic motor with track trajectory deviation are used respectively.After adjusting the PID controller according to certain rules,the response speed of the control system can be increased and the overshoot can be reduced.Finally,according to the actual situation of the positioning system,the monitoring configuration screen is designed.In the early stage of Salt Lake potash mining in China,even water mining vessels were patented by developed countries such as the United States.In 1998,Qinghai Salt Lake Industry began to trial-produce the first domestic HYDRO-MINING ship equipment.Although imported equipment is the main internal equipment,the control system began to gradually become autonomous.Therefore,the research on positioning control system of HYDRO-MINING ship has more practical significance.In addition,the application of positioning control system of water mining vessel can improve mining efficiency and accuracy of underwater excavation,reduce over-excavation and leakage,and reduce the operation cost of reciprocating mining of water mining vessel,which has universal practical significance and economic value.