海底采矿车路径跟踪的变论域模糊控制

采用ADAMS/ATV软件建立海底采矿车机械系统模型,利用MATLAB/Simulink平台建立以速度内环和方位外环的行走控制系统模型及机械系统与行走控制系统协同仿真模型；针对海底环境的复杂性和未知性,采用变论域理论设计纠正方向和位置偏差的自适用模糊控制器以及PID控制理论设计速度控制器,开展海底采矿车在越单边障碍时过程中按预定路径行走仿真研究.仿真结果表明:基于变论域模糊控制理论所设计的海底采矿车路径跟踪控制模型的鲁棒性良好,其方位偏差纠正及速度跟踪的响应速度快、稳态性好、控制效果好,实现了海底采矿车按预定路径行走,为海底采矿车在采矿过程中自动行走控制提供了有效的控制方法.

Tracking moving path of seabed mining vehicle based on theory of variable universe fuzzy control

The multi-rigid body dynamical model of the seabed mining vehicle was built using ADAMS/ATV software.The moving control model of the seabed mining vehicle,which is composed of the speed inner loop and orientation outer loop together,was built by MATLAB/Simulink software.And the co-simulation model of the seabed mining combined with the dynamical model and the moving control system together was also built using MATLAB/Simulink software.Due to the complicated and unknown factors on the seabed,the self-adaptive fuzzy controller based on theory of the variable universe was designed to correct the orientation error of the seabed mining vehicle.The speed controller based on the theory of PID was designed to keep the given speed of the seabed mining vehicle.The seabed mining vehicle’s co-simulation to keep the linear of the moving path was carried out while it went over the barrier just through the right track.The simulation results show that the seabed mining vehicle’s moving control model built by the theory variable universe possesses good robustness,fast and stable response characteristics on two aspects of the orientation error and the speed tracking,and the good effect on tracking the moving along the mining path,thereby the moving along the mining path is realized.And a kind of effective method is supplied to control the seabed mining vehicle to move along the mining path in the ocean mining.