Walking Seabed Mining Truck Models Based On Can Bus Machine Control System Design And Research

As the carrier of the deep-sea mining system, it is necessary for the seabed mining vehicle,which will travel on complex submarine terrain thousands meters deep under the sea, to be controlled remotely and easily. Thus, aiming at the key technology of the remote driving control, this paper researched the driving control system of the seabed mining vehicle based on CAN bus communication and virtual instrument technology.According to the seabed mining vehicle technical specifications, the driving hydraulic system of the articulated tracked vehicle, which has been selected as the travel machine of the seabed mining vehicle, is studied, as well as its proportional speed control method. After the operating characteristic analysis of the multiway valve and the proportional pressure reducing valve, the speed control characteristic is obtained.According to the function and demand, the driving control system scheme, which consists of on-site control system and monitoring system, is designed based on field bus technology. Based on CANopen communication protocol, the control system architecture is designed as well as the on-site control system and the monitoring system. The properties and characteristics of EPEC 2023 controller, CompactRIO controller and its I/O module are studied and the operating panel is also designed.Based on CoDeSys, the software of the on-site control system is developed to contol the seabed mining vehicle and implement data acquisition and calibration. Based on LabVIEW graphical programming environment, the FPGA VI, RT control VI and the user interface of the monitoring system are developed, and the data acquisition. of the operating panel, CANopen communication, data transferring between the RT controller and FPGA, control algorithms, are achieved as well as Ethernet communication, data logging and driving monitoring.The study on closed-loop speed control of driving control system is carried out based on fuzzy PID theory. And the fuzzy PID controller of seabed mining vehicle is designed in LabVIEW. The simulation debugging and on-site commissioning of driving control system are implemented, and the validity of the driving control system based on CANopen bus communication is proved.The performance of travaling on flat ground, stepping over obstacles, stepping over moats and climbing slopes is tested on the model machine with the driving control system. The results show that the driving control system which has been designed achieves the target of remote control successfully, the performance of maximum travel speed, stepping over obstacles, stepping over moats and climbing slopes of the model machine exceeds the technical requirements of seabed mining vehicle, and the articulated mechanism can achieve the pitching and steering function. In addition, the fuzzy PID control algorithm appling to the speed control of the model machine is proved effective.