大洋采矿集矿机行走智能控制器的研究

【作者】 孙治国；

【导师】 成晓明；

【作者基本信息】 中南大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 集矿机是一种在环境条件复杂、恶劣的海底采集锰结核的一种智能机械。集矿机的研制是一个庞大而复杂的系统工程，涉及了多学科的知识。本文主要是针对集矿机行走控制器的设计进行了研究。 本文分析了集矿机行走控制机构的结构和工作原理，并推导出了电液比例阀和液压马达的数学模型，以便对控制算法进行仿真。 对传统的PID控制、模糊控制、神经网络控制、专家控制进行了比较，分析了它们在集矿机行走控制中的优点和缺陷，采用单一的控制不能取得良好的控制效果，因而决定采用智能集成控制。 针对集矿机的履带速度控制，设计了基于模糊神经网络的内环控制器。针对集矿机行走轨迹控制，设计了基于模糊专家解耦和模糊积分的外环控制器。由于纯数字仿真的缺陷，因此引入了国际最新的半实物仿真技术，采用Matlab中的xPC工具箱，对集矿机的行走控制进行半实物仿真。本文还介绍了实现集矿机行走控制的硬件设计与软件编程。 集矿机行走智能控制器的数字仿真和半实物仿真表明，该控制器具有自学习、自适应的能力，能实现集矿机行走的智能控制，达到在实际工作中安全、可靠、稳定的深海集矿机行走作业控制要求。更多还原

【Abstract】 The nodules collector is an intelligent machine that can pick up the multiple-metal nodules on deep ocean floor with complicated and adverse circumstances. The research and design of the nodules collector is a large and complicated system engineering. This paper mainly studies the nodules collector’s traveling controller.This paper analyses the structure and work principle of the nodules collector’s control framework, and the mathematic models of the hydraulic motor and electro-hydraulic proportional valves are got So the control arithmetic can be simulated.This paper compares various results if the traditional PID, fuzzy control, neural network and expert system can be used in the nodules collector’s traveling control. The good result can’t be got only with one control arithmetic. So intelligence integrated controL system is used.In order to control the speed of pedrail, the inner controller based on the fuzzy neural network is designed. In order to control the error of the nodules collector’s travel, the outer controller based on expert discoupling and fuzzy-integral technology is designed. Because of the bug of digital simulation, the up-to-date HIL(hardware-in-the-loop) technology is introduced. The nodules collector’s traveling controller can be simulated by xPC. The paper also introduces the design of hardware and software of the nodules collector’s traveling controller.The simulation to the nodules collector’s traveling controller shows that the controller with self-learn and self-adapt can control intelligently the nodules collector’s travel and meet the request of deep ocean mining safely, reliably and stably.更多还原