摘要
海底采矿车为液压驱动低速履带车辆,其转向性能对于海底采矿的路径规划及避障都很重要。文中对海底采矿车实际转向半径进行了分析,提出了实现给定转向半径的控制方法,为海底采矿车转向运动控制提供理论依据。此外,海底环境非常复杂,海底采矿车由于海底沉积物极稀软容易出现打滑,对履带式采矿车的两侧履带同步行走控制提出了比较高的要求。通过对液压驱动马达进行速度反馈控制,在考虑打滑情况下实现履带同步控制。最后,设计出基于模糊PID的液压驱动速度同步控制系统,并对该控制系统进行了仿真,取得了较好的控制效果。
The seabed mining vehicle is hydraulic driven, low speed and tracked vehicle. The steering performance of the vehicle is very important for path programming and barrier avoiding in mining. In this paper, the real turning radius of the seabed mining vehicle is analyzed, and a control method for realizing target turning radius is put forward. Moreover,the environment of seabed is very complicated. Because of the extra soft seabed sediment, the vehicle works with high slip. It is demanded that the speed synchronization control of lateral tracks possesses high performance. The speed synchronization control of lateral tracks is realized by feedback control of the hydraulic motor speed in the case that the vehicle works with slip. Finally, a hydraulic drive speed synchronization system based on fuzzy PID is designed.
出处
《计算机仿真》
CSCD
2008年第3期179-181,223,共4页
Computer Simulation
关键词
速度同步
液压控制
模糊控制
海底采矿车
转向
Speed synchronization
Hydraulic control
Fuzzy control
Sea - bed mining vehicle
Steering
