自然科学版 英文版
自然科学版 英文版
自然科学版 英文版

您目前所在的位置:首页 - 期刊简介 - 详细页面

中南大学学报(自然科学版)

Journal of Central South University

第43卷    第2期    总第210期    2012年2月

[PDF全文下载]    [Flash在线阅读]

    

文章编号:1672-7207(2012)02-0489-08
海底采矿车路径跟踪的变论域模糊控制
李力1, 2,邹砚湖1

(1. 中南大学 机电工程学院,湖南 长沙,410083;
2. 深海矿产资源开发利用技术国家重点实验室,湖南 长沙,410012
)

摘 要: 采用ADAMS/ATV软件建立海底采矿车机械系统模型,利用MATLAB/Simulink平台建立以速度内环和方位外环的行走控制系统模型及机械系统与行走控制系统协同仿真模型;针对海底环境的复杂性和未知性,采用变论域理论设计纠正方向和位置偏差的自适用模糊控制器以及PID控制理论设计速度控制器,开展海底采矿车在越单边障碍时过程中按预定路径行走仿真研究。仿真结果表明:基于变论域模糊控制理论所设计的海底采矿车路径跟踪控制模型的鲁棒性良好,其方位偏差纠正及速度跟踪的响应速度快、稳态性好、控制效果好,实现了海底采矿车按预定路径行走,为海底采矿车在采矿过程中自动行走控制提供了有效的控制方法。

 

关键字: 海底采矿车;变论域理论;模糊控制;协同仿真

Tracking moving path of seabed mining vehicle based on
theory of variable universe fuzzy control
LI Li1, 2, ZOU Yan-hu1

1. School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China;
2. State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology, Changsha 410012, China

Abstract:The multi-rigid body dynamical model of the seabed mining vehicle was built using ADAMS/ATV software. The moving control model of the seabed mining vehicle, which is composed of the speed inner loop and orientation outer loop together, was built by MATLAB/Simulink software. And the co-simulation model of the seabed mining combined with the dynamical model and the moving control system together was also built using MATLAB/Simulink software. Due to the complicated and unknown factors on the seabed, the self-adaptive fuzzy controller based on theory of the variable universe was designed to correct the orientation error of the seabed mining vehicle. The speed controller based on the theory of PID was designed to keep the given speed of the seabed mining vehicle. The seabed mining vehicle’s co-simulation to keep the linear of the moving path was carried out while it went over the barrier just through the right track. The simulation results show that the seabed mining vehicle’s moving control model built by the theory variable universe possesses good robustness, fast and stable response characteristics on two aspects of the orientation error and the speed tracking, and the good effect on tracking the moving along the mining path, thereby the moving along the mining path is realized. And a kind of effective method is supplied to control the seabed mining vehicle to move along the mining path in the ocean mining.

 

Key words: seabed mining vehicle; theory of the variable universe; fuzzy control; co-simulation

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
版权所有:《中南大学学报(自然科学版、英文版)》编辑部
地 址:湖南省长沙市中南大学 邮编: 410083
电 话: 0731-88879765(中) 88836963(英) 传真: 0731-88877727
电子邮箱:zngdxb@csu.edu.cn 湘ICP备09001153号