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Abstract: It is difficult that the seafloor robot in the mining system of poly-metallic nodules on deep seafloor moves along the plan-ning mining paths, because the seafloor robot is acted by the complicated coupling damp, its left and right tracks are slip easily. Based on ADAMS/hydraulics software, the simulation model of the moving hydraulic system of China’s 1 000 m sea-floor robot is built. Taking into account the influences of the random disturbance of its left and right tracks’ slip ratios by the complicated damp coupling effect and the hysteresis of the obtained signal by the sensors and sonars in deep water, with Matlab/Simulink
and ADAMS/hydraulics software, the planning velocity control model by PID
controllers and the planning path-tracking control model by the fuzzy
logic controller of the seafloor robot are built. After both of them are
combined with the mode control of the inner and out loop, the tracking
automatically planning mining paths’ control model and arithmetic of 1 000 m seafloor robot are established and developed. The co-simulation is carried out successfully between the models of ADAMS/hydraulics and Matlab/simulink.
The simulations of the various operation situations combining the
different planning velocities with different planning mining paths are accomplished in the developed control model, respectively. The simulated results show that the seafloor robot has better property of the tracking automatically planning mining paths to meet the demand of the mining system of poly-metallic nodule.
Key words: Seafloor robot Co-simulation Tracking
Planning mining path Fuzzy control
CLC No: TG156
国家自然科学基金资助项目(50275152). Received 20060220, received in revised form 20061020
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