Walking Control Based On Fuzzy Neural Network Undersea Mining Vehicle Path Tracking

Cobalt-rich crust is the seabed mineral resource which exists on the surface of the marine hills.Beacause articulated tracked vehicle is of good obstacle performance,climbing ability and advanced mobility, articulated tracked vehicle is selected as the running machine for cobalt crust mining.It is a key technology that cobalt crust mining walks on the Scheduled path.On the foundation of multi-body dynamic model of seabed mining vehicle,a fuzzy neural network running control method is presented based on ANFIS,and a co-simulation model is established which is based on Simulink, ADAMS and Lab VIEW. So new methods and ideas are provided for walking control research of seabed mining vehicle.First of all,the control scheme of seabed mining vehicle is designed which takes Compact RIO controller as a core.And the intelligent automatic running control program is proposed which is of inner loop using speed control and outer loop using path control with Lab VIEW. On this basis,the kinematic analysis and modeling of seabed mining vehicle is carried out. And the walking control model of outer loop using path control and inner loop using PID speed control is established based on ANFIS. According to the training data, the path controller of fuzzy neural network is designed based on ANFIS.Then, the PID controller is designed and parameters is tuned.At the same time, the model of speed distribution module,slip rate control module,slip rate calculation module and real-time delay module is established.Secondly,the co-simulation model of a dynamic mechanical model and a scheduled path walking control model is established.And the simulation study of straight path tracking control about steping over unilateral barriers,deviating from the path and slip rate control when the seabed mining vehicle climbing is carried out. A set of simulation results is presented,showing the validity of the proposed control method based on ANFIS.Afterwards, a co-simulation model is established which is based on Simulink,ADAMS and Lab VIEW by SIT Sever,, achieving the purpose of three softwares co-simulation, so the technical support is provided for the automatic control of.Finally,the model experiments about seabed mining vehicle are carried out, which achieves the connection of the control algorithm and LabVIEW.So it is verified that the validity of the proposed control method of seabed mining vehicle.