深海集矿机行走驱动系统研究  

The Mathematical Modeling and Simulation of an Ocean Mining Machine Fluid Drive System

作　　者：冯磊华[1] 桂卫华[1] 王随平[1] 杨锋[1] 

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《计算技术与自动化》2005年第2期42-44,共3页Computing Technology and Automation

基　　金：国际海底区域研究开发"十五"项目(DY-105-03-02-06)

摘　　要：集矿机在深海底是不容易控制的。要控制其行走,首先就要研究液压驱动部分。该驱动系统通过控制集矿机左右履带的旋转进而控制集矿机的整体运动。本文分别介绍了履带式集矿机液压驱动系统中比例阀、变量泵、液压马达的数学模型及Simulink仿真。在仿真过程中,通过比较变换负载及改变PID控制器参数后输出结果的不同,来验证该模型的合理性。<Abstrcat>The control of ocean mining machine is difficult in deep seabed. If we want to control it's movement , we should study the fluid drive system firstly. This system control the ocean mining machine's movement by control it's pedrail. In this paper, the mathematical modeling of proportional valve, of variable pump and of motor in this fluid drive system and the simulation in Simulink are introduced. In the process of simulation, the model is testified by comparing their outcome of different load and different parameters of PID control.

关 键 词：大洋采矿 液压驱动 数学模型 仿真 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]