深海底采矿机器车运动控制研究与虚拟仿真  

Study of Steering Control System of the Deep-seabed Mining Robot Vehicle and Virtual-Reality Simulation

作　　者：冯磊华[1] 杨锋 

机构地区：[1]长沙理工大学能源与动力工程学院,湖南410077 [2]湖南江河机电自动化工程有限公司,湖南410013

出　　处：《微计算机信息》2008年第34期251-253,共3页Control & Automation

基　　金：湖南省教育厅资助科研项目项目名称:基于虚拟现实技术的火电厂仿真技术研究颁发部门:湖南省教育厅(06C108)

摘　　要：采矿机器车是一种在水深5000-6000米的海底采集锰结核的智能机械。由于深海环境复杂,单一的控制无法达到集矿机行走的要求。针对集矿机的履带速度控制,设计了模糊PID的履带速度内环控制器。针对集矿机行走偏差,设计了模糊的外环控制器,并加入一智能积分器与模糊控制并联以消除静差和极限环振荡。利用虚拟现实技术仿真,证明了该控制系统是可靠的。The deep-ocean mining machine is an intelligent collector that can pick up the muhiple-metal nodules on about 5000m- 6000m＇s deep-sea floor. Because the environment is very complex in the deep-sea, single control is unable to reach the demand for steering of the vehicle. In order to control the speed Of pedrail, has designed the Inner Loop controller of fuzzy PID. In order to control the error of the vehicle＇s travel, has designed the External Loop controller of fuzzy and join in an intelligent integrator to avoid surge. The use of virtual-reality technology simulation, show that the control system is reliable.

关 键 词：大洋采矿 可靠性 模糊PID控制 模糊积分控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]