基于动力学分析的深海履带式采矿车行走打滑控制.docVIP

第 44 卷第 8 期 2013 年 8 月  中南大学学报(自然科学版) Journal of Central South University (Science and Technology)  Vol.44 No.8 Aug. 2013  基于动力学分析的深海履带式采矿车行走打滑控制 韩庆珏 1, 2 ，刘少军 1, 2 (1. 中南大学机电工程学院，湖南长沙， 410083； 2. 深海矿产资源开发利用技术国家重点实验室，湖南长沙，410012) 摘要：在分析我国深海底海泥特性的基础上，利用膨润土模拟海泥，得到深海履带式采矿车牵引力和打滑率之间 的关系。牵引力随打滑率增加而急剧减小，最终稳定在 30 kN。通过对推土阻力、压实阻力、转弯阻力、水阻力 的理论分析，建立履带式采矿车的动力学模型，提出了采矿车直线行走时打滑率 i 应≤20%的控制要求，并设计 带模糊 PID 控制器的打滑率控制系统。利用 Simulink 软件，对控制系统进行仿真。仿真结果表明，所设计的打滑 控制系统能够满足深海履带式采矿车行走控制要求，打滑率控制响应速度快、稳态性好，保证采矿车良好的动力 性能。 关键词：深海；履带式采矿车；打滑率；打滑控制 中图分类号：TP242 文献标志码：A 文章编号：1672?7207(2013)08?3166?07  Slip control of deep sea tracked miner based on dynamic analysis HAN Qingjue 1, 2 , LIU Shaojun 1, 2 (1. College of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China? 2. National Key Laboratory of Development and Utilization of Deep-Sea Mineral Resource, Changsha 410012, China) Abstract: Based on the analysis of the characteristic of the surface soil on the deep-sea bed, the relationship of the traction force and slip rate of the deep sea tracked miner is obtained. As the slip rate increases, the traction force decreases sharply. Also, the dynamic model of the tracked miner is established taking the bulldozing resistance, compaction resistance, steering resistance and water resistance in account. More importantly, a slip rate control system with a fuzzy PID controller is designed. By using Simulink software, a series of simulations are carried out to test the controller. As shown in the results, the slip rate controller is of fast and stable response, therefore, the validity of the controller is confirmed and can meet the control requirement, which is no more than 20%, and the dynamic performance of the deep sea tracked miner is ensured. Key words: deep sea? tracked miner? slip rate? slip control  履带式行走机构因其自身固有的结构特点经常被 广泛应用在军事、农业以及采矿等特