自行式海底作业车的智能控制系统  

An intelligent Control System for Self-Propelled Sea-Bed Service Vehicles

作　　者：王和平[1] 王爱武[1] 

机构地区：[1]长沙矿山研究院,湖南长沙410012

出　　处：《矿业研究与开发》2002年第2期30-32,共3页Mining Research and Development

基　　金：国家"九五"攻关项目 (DY95 -0 3 -18)

摘　　要：海底作业车工作在 5 0 0 0～ 6 0 0 0m深的海底 ,由于海底地质环境、海流、输送管道和电缆等诸多因素的影响 ,其行驶路径的控制至关重要。文章在阐述控制系统主要技术指标及其结构设计的基础上 ,指出了被控对象的主要特点 ,介绍了所采用的三环串级控制系统、系统的控制过程及其特点 ;经实验室试验和 15 0m水下试验 。For service vehicles traveling on sea-bed at a depth of 5000～6000m, path control is very important, as is affected by sea-bed geology, sea torrent, transportation pipelines and cables. Based on a description of the main technical indices and structural design of the control system, the paper gives a summary of the major characteristics of the object to be controlled and a presentation of the tri-ring series control system along with its control procedures and features. Lab tests and field tests under water at a depth of 150m indicates that the control system is able to satisfy the requirements of field operation.

关 键 词：自行式海底作业车 智能控制系统 海洋采矿 海底作业 路径控制 海流 输送管路 电缆 

分 类 号：TD857[矿业工程—金属矿开采]