深海采矿车行走的专家模糊控制  

Fuzzy expert control over the walking of the deep-sea mining vehicle

作　　者：戴圣伟[1] 胡沁春[1] 周玉[1] 

机构地区：[1]湖南工业大学电气与信息工程学院,湖南株洲412008

出　　处：《控制与决策》2010年第1期141-144,共4页Control and Decision

基　　金：国际海底区域研究开发"十五"项目(DY105-03-02-06);国家重点研究发展规划项目(2002CB312203)

摘　　要：深海采矿车的作业过程,受作业环境和采矿车自身的影响,具有随机性、非线性和时变等特性,针对该复杂过程,提出了专家模糊控制算法.该算法参考履带车辆的运动学方程,结合履带车辆人工操作经验整合的专家规则,构成专家系统,实现采矿车绝对速度和航向角的闭环控制;采用模糊控制算法,对采矿车的左、右履带速度进行控制.仿真结果验证了该方案的可行性和有效性.The work of the deep-sea mining vehicle can be affected by the environment and the function of the vehicle itself.Therefore,its work can be random,non-linear,and time-dependent.To the complicated process,the fuzzy logic expert algorithm is introduced,which refers to the kinematic equation of the track vehicle,combines the expert rules integrated from manual operation of track vehicle,comprises expert system,and therefore realizes the absolute speed of the vehicle and the open loop control of the course angle.Fuzzy logic expert algorithm can control the speed of the left and right track of the mining vehicle.Simulation result shows the feasibility and effectiveness of this project.

关 键 词：行走控制 专家系统 模糊控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]