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深海采矿车的作业过程,受作业环境和采矿车自身的影响,具有随机性、非线性和时变等特性,针对该复杂过程,提出了专家模糊控制算法.该算法参考履带车辆的运动学方程,结合履带车辆人工操作经验整合的专家规则,构成专家系统,实现采矿车绝对速度和航向角的闭环控制;采用模糊控制算法,对采矿车的左、右履带速度进行控制.仿真结果验证了该方案的可行性和有效性.
Due to the characteristics of randomness, nonlinearity and time-varying, the operation process of deep-sea mining vehicle is affected by the working environment and the mining vehicle itself. In view of the complex process, an expert fuzzy control algorithm is proposed. The algorithm references the kinematics equation , Combined with expert rules of manual operation experience of tracked vehicles to form an expert system to realize the closed loop control of the absolute speed and heading angle of the mining vehicle.Using the fuzzy control algorithm to control the left and right track speed of the mining vehicle.The simulation results verify that Feasibility and effectiveness of the program.