Deep Sea Mining Machine Walking Control Study

Deep-sea mining process is a very intricate process. Tracking control of deep-sea mining vehicle is the key problem in the whole mining system. It is important on research of tracking control technology to improve stability, dynamic control accuracy of the vehicle and the reliability of the mining system.In this paper, a control strategy and tracking control algorithm on deep seabed mining vehicle are presented. Firstly, deep seabed mining process is detailedly analyzed and walking system of mining vehicle is introduced, then control target is put forward. After that, according to the difficulty of control system, hydraulic drive characteristic of the vehicle and deep seabed working environment on soft terrain, hydraulic driver model, track-terrain model and kinematical model are separately built. The models are then encapsulated into one integrated model, simulation model on deep ocean mining vehicle. Following that, an expert-fuzzy control algorithm is proposed for tracking control, considering severe nonlinear and noholonomic properity of the model. Fourthly, according to multi-task and multi-sensor, a hybrid software architecture of tracking control of the deep seabed vehicle is designed after compare deliberative architecture and reactive architecture. On the basis of the design, control software of deep seabed mining vehicle is programed. Finally, the theoretical work is evaluated by simulation and experiment using the simulation model and mini-mining vehicle model separately. The algorithm availability is demonstrated.