深海集矿机控制系统设计与实现

【作者】 唐斌；

【导师】 唐朝晖；

【作者基本信息】 中南大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 深海采矿是一个极其复杂的采集过程，集矿机控制系统则是整个深海采矿系统的关键。我国在“八五”、“九五”时期开发的深海集矿机控制系统采用了主从式控制模式。其决策效率低，决策效果不理想，而且集矿机液压系统的控制存在着稳定性欠佳，控制效果差的问题。 本文以深海集矿机集矿过程为背景，介绍了深海集矿机控制系统的研究和设计。首先在深海采矿和集矿机集矿工艺过程分析的基础上，分析集矿过程控制系统中要解决主要问题，介绍了研究方法，给出了集矿机控制系统设计的总体设计。针对集矿机工作要求，设计了集矿机路径规划系统，给出了集矿机的全局路径规划和局部动态路径规划。针对集矿机履带液压系统的非线性、大惯性、时滞性和复杂的深海环境，本文利用模糊控制系统的理论，分析了常规模糊控制器对履带液压系统的角位移控制性能，利用模糊优化方法，设计了液压系统的规则自修正的模糊控制器，并利用在线学习算法对模糊控制器的参数进行了优化，仿真结果表明算法对角位移控制的良好性能；同时采用模糊控制器积分改进实现了转速控制的良好性能。 并用VC编制了监控子系统，内容包括各种输入／输出程序，通信接口程序，各种数据的处理、存储、显示和打印，动态监控画面，有关设备的操作顺序、连锁、保护控制程序，仿真测试表明软件系统能够正常运行。更多还原

【Abstract】 Deep-sea mining process is a very intricate process. The control subsystem of deep-sea collector is the key problem in the whole mining system. Principle - subordinate control mode is adopted in the deep-sea mining system in our country during the Eighth and Ninth five-year Plan. It’s common that the efficiency of their decision is very low. Furthermore, the steadiness and effect of the hydraulic pressure control system of deep-sea mining collector cannot meet the control demands.In this paper, the control system of deep-sea collector is studied and devised. Firstly, based on the analysis of the technics of mining process and the collector’s working process, the problems in the control system of deep-sea collector including collector path planning and control algorithm are briefly analyzed, the studying methods for them are introduced, and then the whole architecture is given in detail. Secondly, according to the working demands of collector, a path planning system is designed, which can complete the global path planning and the local path planning. Thirdly, fuzzy control algorithms are studied for the control of hydraulic system of collector’s tracks. The emulational results indicate that the fuzzy algorithm is effective and desirable.At last, the system software is expatiated in its structures and functions. Here, the thoughts and the methods of the system design are emphasized. The system software, developed under the development of Visual C++ 6.0, comprises a main monitoring module, a communication module, database module, input and output module of control panel and so on. The precision and reliability is being proved.更多还原