Deep Sea Mining Machine According To The Predetermined Path On Their Own To Take Control Study

Deepsea Tractor is one of the most crucial subsystems in the deep sea mining system, and improving automatically controlled performance and intellectual degree of deepsea tractor has important meanings to improving the whole mining system's collection ore efficiency and working dependability. However, the reseach of the automatic control system of the deepsea tractor meet a lot of new problems, in the case of that the marine technology is unripe and that deep sea environment is too special and complex. So, In order to lay the good technological foundation of grasping the deep sea mining technology that can be applied in commercial mineral deposit resources exploiting for our country in the future, it is necessary to proform further investigation in this respect.The purpose of the research in this paper is to seek a automatically controlled model for deepsea tractor to follow the route determined in advance which can be realized by existing technology, meet the control request of the deepsea tractor while trying in sea of 1000 meters , and accord with the deepsea tractor control characteristic and deep sea environmental characteristic. For this reason, this paper has done the research work of the following several respects mainly:(1) Base on the track type deepsea tractor control characteristic , several kinds of modern control theories are analysed and compared, and the self-adaptation controlling theory is finally chosen as the theoretical foundation of control model;(2) A automatically controlled model for deepsea tractor to follow the route determined in advance is carried out, whose theoretical foundation of control is based on the self-adaptation controlling theory with the expert. Besides, the minimum deviation of the route is regard as the main performance index of the control model, and whether the control model can be realize by existing deepsea tractoronline parameter control system possess measure sensor is also considered;(3) According to the control model put forward by this paper, an artificial experiment platform of the computer and an experimental platform of material object have been set up. The control model is test in many kinds of experiments with the simulative interference in system which cased by deepsea environment, and the experimental result data is also analysed and explained;(4) Experience of researching has been summarized, and some problems on how the control model can been applied in real deepsea mining system are considered. As the result, several suggestions are carried out which may optimize the control system performance further.Experimental result indicate that the self-adaptation controlling model with the expert for deepsea tractor to follow the route determined in advance which put forward by this paper not only meet the needs of controlling models , but also have good stabilities and robust.