The Deep Ocean Mining Machine Model Car Walking Control Of Virtual Simulation

The deep ocean mining vehicle is an intelligent collector that can pick up the multiple-metal nodules on about 5000m-6000m's deep-sea floor with complicated and adverse circumstances. It decides the success or failure of ocean-mining that the walk controller of the vehicle is good or bad. Because the vehicle is very bulk, it is inconvenient to repeated-study. So, the members of this seminar develop a model-vehicle , and is regarded as the target of laboratory research. Based on the model-vehicle, launch the systematic modeling of hydraulic pressure and controller of the vehicle to design, have directive significance of projects.This paper analyses the structure and work principle of the ocean mining machine's control organization with the ocean mining machine in the background., and has designed the hydraulic pressure control system of the model-vehicle on this basis, has set up the mathematics model of every part, in order to carry on emulation to the algorithm of controlling. This can also offer the foundation in theory for the design of controller of the deep ocean mining vehicle. Because model-vehicle is drived by proportional valve motor and it is complicated nonlinear multi-step system, we can't describe the ocean mining machine's control theory with accurate mathematics model. So, single control is unable to reach the demand for walking of the vehicle. In order to control the speed of pedrail, has designed the Inner Loop controller of fuzzy PID. In order to control the error of the vehicle's travel, has designed the External Loop controller of fuzzy and join in an intelligent integrator to avoid surge.Because digital emulation and experiment are all set up on the basis of model-vehicle, have certain disparity with the original system. The thesis uses Virtual Reality technology, combine the mathematics model of the model-vehicle with the Virtual Reality environment of the deep ocean mining vehicle. Through obtaining the ocular control result, can make the model car approach the real system further, optimize the parameter of the controller.