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Alternative TitleResearch on slip control of the seabed tracked mining vehicle
孙海舰1,2; 何震1,2; 冯迎宾1,2; 李智刚1,2
Source Publication机械设计
Indexed ByCSCD
Contribution Rank1
Funding Organization国家重点研发计划子课题资助项目——集矿车组合导航定位算法研究(2016YFC0304102-6)
Keyword履带采矿车 浮力调节 打滑控制 RecurDyn MATLAB


Other Abstract

In view of the subsidence and slip of the tracked mining vehicle in the deep-seabed polymetallic nodule mining area with the low-bearing capacity,a buoyancy-control device for the tracked mining vehicle is developed,and a method of slip control of the tracked mining vehicle is worked out based on the buoyancy adjustment. Since the actual slip rate of the tracked mining vehicle in the deep seabed is not easy to measure,the dynamic model through which the actual output speed and realtime slip rate of the tracked mining vehicle can be identified with the aid of the software RecurDyn. The co-simulation of RecurDyn and MATLAB is adopted to verify that the slip control of the tracked mining vehicle by means of the buoyancy adjustment is feasible. The co-simulation results show that with the slip-control method based on the buoyancy adjustment,the slip rate effectively improves;when the tracked mining vehicle is seriously slipping,the slip rate can be quickly reduced,and the vehicle is under smooth operation.

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Document Type期刊论文
Corresponding Author孙海舰
Recommended Citation
GB/T 7714
孙海舰,何震,冯迎宾,等. 海底履带采矿车打滑控制研究[J]. 机械设计,2019,36(12):96-100.
APA 孙海舰,何震,冯迎宾,&李智刚.(2019).海底履带采矿车打滑控制研究.机械设计,36(12),96-100.
MLA 孙海舰,et al."海底履带采矿车打滑控制研究".机械设计 36.12(2019):96-100.
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