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海底履带采矿车打滑控制研究
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
Department水下机器人研究室
Source Publication机械设计
ISSN1001-2354
2019
Volume36Issue:12Pages:96-100
Indexed ByCSCD
CSCD IDCSCD:6645627
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
Abstract

针对深海海底多金属结核矿区底质稀软,承载能力低,履带采矿车沉陷和打滑等问题,设计了一种采矿车浮力调节装置,并提出一种基于浮力调节的履带采矿车打滑控制方法;针对深海海底履带采矿车真实打滑率不易测量的问题,应用RecurDyn软件构建履带采矿车动力学模型,获取履带采矿车实际输出速度、实时打滑率;通过RecurDyn与MATLAB进行联合仿真,验证应用浮力调节对采矿车打滑控制的可行性。联合仿真结果表明,基于浮力调节的打滑控制方法能够有效改善打滑率,当履带采矿车出现严重打滑时,能够迅速降低打滑率并保持平稳运行。

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.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26177
Collection水下机器人研究室
Corresponding Author孙海舰
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院机器人与智能制造创新研究院
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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