The Research Of Turning Control On The Tracked Vehicle In The Deep-sea Slope

The deep-ocean mining vehicles work in 6000m's deep-seabed. The control precision of the vehicles have been influenced detrimentally by the proliferation of soft seabed sediments and various disturbances in the deep-sea environment. Consequently, a suitable control algorithm plays a pivotal role in improving the vehicles'performance. Especially when the vehicle mines around the deep-sea slope, the optimization of the steering strategies and parameters is dominant. Overall, it is imperative that the research on mining vehicle's steering control technology is conducted for the sake of the control precision and mining efficiency.The mining vehicle's turning control process is restricted by many factors while working on the deep-sea slope. For instance, the mechanical properties of deep-sea mud, grade of the slope, the relativity between turning direction and gradient, turning speed and angle, the slip rate, the electro-hydraulic drive system and other unknown disturbances all have a definite link with the mining vehicle's parameters coupling effect during the steering course. The force relationship between the tracked vehicle and the seabed is first analyzed in this thesis. Secondly, the mining vehicle's kinematic model is deduced as driving on the slope. Finally, the optimal steering controller is designed as a key determinant of the turning control system. Since the turning control system takes the skidding and disturbances into account, the mining vehicle's tracking accuracy is enhanced and the driving safety on the slope is also ensured.Through the predicted trajectories and gradient under the different turning way, a simulating research on the turning controller is carried out in the MATLAB/Simulink platform. The random interference is added into the simulation on the consideration of strong disturbance in the deep sea and slip between the tracks and sediment. And the results show the validity of the algorithm.