Deep-sea Fishing Robot Anti-skid Control

The deep-sea mining robot is a tracked-vehicle that can pick up the poly-metallic nodules on the 5000m-6000m's deep-sea sediment, and the slip control technology is the key point of the whole deep-sea mining system. The mining robot is operating in the deep-sea sediment, which shows itself weak shear intensity and varies randomly. Compared with the similar type of tracked-vehicle on land, it is easy to slip seriously, even sink into the sediment and lose its ability to run. Therefore, it is high time to research how to control the slip to safeguard the running of the robot.Based on the analysis of the mechanics character of the sediment in the diggings and the performance of the robot, a dynamic model is developed with some factors neglected. And based on this model, an anti-slip controller is developed. Analysis of the principle of anti-skid control of the track reveals the relationship of the slip ratio and adhesion coefficient. Combined with the robot model, an anti-skid control system is established to control the slip ratio of the robot. The reaching law used in this paper can be a very good method to weaken chattering phenomenon in the system response. The premise of the controller work is to get the exact optimal slip ratio to different road conditions. In this paper, the optimal slip ratio of deep-sea sediment is gained according to the ratio and the adhesion coefficient curve.The system designed has been simulated by MATLAB / Simulink software. The simulation results show that the control system can predict the optimal slip ratio on different roads and keep the actual slip ratio in the vicinity of the best value, while the driving torque changes relatively smoothly. The anti-slip system can ensure the security requirements on the vehicle running process.