Deep-sea Mining Device Heave Compensation System Fuzzy Self-tuning Pid Control

Facing with the austere situation of our country's mineral resources that the depletion of land-based mineral resources, we should develop technology for deep-ocean exploration and mining energetically. Being one of the necessary key equipments for guaranteeing the safety of deep-ocean mining, heave compensation system endure heavy load, composed complexity, required high technology, and meanwhile operated in changeable deep-ocean area, so the research for heave compensation system is difficult to test in deep-ocean area frequently. But the simulation research based on virtual prototype technology can simulate heave compensation system working in variable deep-ocean condition, so it plays a very important role in providing theory and technology for development and manufacture of heave compensation equipment, shortening research periods, reducing risk, improving design quality, and so on. The discussion of control methods for heave compensation system can provide theoretic reference and basis for choosing control method for heave compensation system.According to design program and test requirement of the heave compensation for 1000m deep-ocean mining system, the paper analyzes the working principle and technological parameter of heave compensation systemically, simplifies the movement rule of the mining ship and heave platform in deep-ocean, analyzes the force, and establishes the simple mechanics model and mathematics model.The paper does research for heave compensation system base on the virtual prototype technology and control system's simulating technology, uses the ADAMS to establish multi-rigid-body dynamic model of the mining ship's heave compensation system based on hydraulic dynamic, and contraposes this model to design Fuzzy self-adapting PID controller through control system simulating analysis software MATLAB/SIMULINK. Finally, combining ADAMS and MATLAB to establish simulation model of the heave compensation control system based on the transfer of system state parameters among mechanic, hydraulic, and control model, simulating the system working on different ocean conditions, analyzing the control simulation.The combined simulation result indicates that this technology can reflect the dynamic course of the mining ship's heave compensation system. The Fuzzy self-adapting PID controller used in this research can perform displacementcompensation commendably for the mining system's heave platform, gaining good compensation result, and the compensation rate can reach 35%-45%, which enhances the stability of deep-ocean mining system.At the same time, the paper designs and manufactures a suit of experimental equipment for displacement compensation. The experimental result validates the rationality and feasibility of this heave compensation system and it's Fuzzy self-adapting PID controller.