ROV型深海采矿车动力学建模及路径跟踪控制研究  

Dynamic Modeling and Path Tracking Control of a ROV-Based Deep-Sea Mining Vehicle

作　　者：陈昱衡 张海成[1,2,3] 邹伟生[1] 李煜[1] 徐道临[1] Chen Yuheng;Zhang Haicheng;Zou Weisheng;Li Yu;Xu Daolin(College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China;Greater Bay Area Institute for Innovation,Hunan University,Guangzhou 511300,China;Wuxi Intelligent Control Research Institute,Hunan University,Wuxi 214082,China)

机构地区：[1]湖南大学机械与运载工程学院,长沙410082 [2]湖南大学粤港澳大湾区创新研究院,广州511300 [3]湖南大学无锡智能控制研究院,无锡214082

出　　处：《动力学与控制学报》2025年第2期30-37,共8页Journal of Dynamics and Control

基　　金：国家自然科学基金资助项目(52071138,12272128);广东省基础与应用基础研究资助项目(2024A1515010683);江苏省基础研究计划重点项目(BK20243019)。

摘　　要：本文针对传统深海采矿系统中履带车操作稳定性差的瓶颈问题,研究了一种新型的遥控水下机器人(ROV)型深海采矿系统,其中ROV型深海采矿车取代了传统的履带式深海采矿车.ROV型深海采矿车由一个ROV和一个采矿机器人(MRT)组成.首先,假设ROV保持固定深度拖曳MRT,通过类比自行车模型,以此建立了ROV型采矿车的动力学模型.其次,提出了一种分层路径跟踪控制策略,基于ROV型采矿车的运动学模型,设计了线性模型预测控制器(LMPC)以计算收敛MRT路径跟踪偏差的虚拟控制律,下层PID控制器计算响应虚拟控制律的ROV控制输入.最后,通过数值模拟初步验证了分层路径跟踪控制策略的可行性.This study proposes a ROV-based deep-sea mining system to overcome the stability issues of tracked vehicles in the traditional deep-sea mining system.The ROV-based deep-sea mining vehicle replaces the traditional tracked deep-sea mining vehicle.The ROV-based deep-sea mining vehicle consists of a remote operated vehicle(ROV)and a mining robot(MRT).First,this paper investigates the dynamic model of the ROV-based mining vehicle,assuming that the ROV maintains a fixed depth while towing the MRT.By analogy with a bicycle model,the dynamic model of the ROV-based mining vehicle is established.Subsequently,a hierarchical path tracking control strategy is introduced.Based on the kinematic model of the ROV-type mining vehicle,a linear model predictive control(LMPC)controller is designed to calculate a virtual control law for converging MRT path tracking deviations.A lower-level PID controller computes the ROV control input in response to the virtual control law.Finally,the feasibility of the hierarchical path tracking control strategy is preliminarily validated through numerical simulations.

关 键 词：深海采矿 ROV型深海采矿系统 动力学建模 路径跟踪控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]