毛竞航,吕海宁,杨建民,刘磊.基于模糊PID的深海采矿机器人路径跟踪控制[J].海洋工程,2021,39(5):151~161
基于模糊PID的深海采矿机器人路径跟踪控制
Path following control of deep sea mining vehicle based on fuzzy PID
投稿时间:2020-08-27  
DOI:10.16483/j.issn.1005-9865.2021.05.016
中文关键词:  深海采矿机器人  路径跟踪  艏向控制  模糊PID  打滑
英文关键词:deep sea mining vehicle  path following  heading control  fuzzy PID  slip
基金项目:深海矿产资源开发关键技术(19DZ1207300);国家自然科学基金项目(51979159)
作者单位E-mail
毛竞航 上海交通大学 海洋工程国家重点实验室, 上海 200240
高新船舶与深海开发装备协同创新中心, 上海 200240 
 
吕海宁 上海交通大学 海洋工程国家重点实验室, 上海 200240
高新船舶与深海开发装备协同创新中心, 上海 200240 
haining@sjtu.edu.cn 
杨建民 上海交通大学 海洋工程国家重点实验室, 上海 200240
高新船舶与深海开发装备协同创新中心, 上海 200240 
 
刘磊 上海交通大学 海洋工程国家重点实验室, 上海 200240
高新船舶与深海开发装备协同创新中心, 上海 200240 
 
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中文摘要:
      深海采矿作业中,由于海底软泥稀软,采矿机器人极易打滑,以及海底地形、海流等干扰,采矿机器人容易偏离预定路径。针对采矿机器人的海底作业过程中路径跟踪问题,设计并分析了深海采矿机器人的路径跟踪控制系统。首先提出了艏向控制实现采矿机器人路径跟踪的控制算法,通过采矿机器人与当前目标点相对位置计算采矿机器人的目标艏向角,后基于运动学模型建立模糊比例积分微分(PID)的控制方法控制采矿机器人两侧转速差值进而控制采矿机器人艏向,从而使机器人按目标路径行走;同时为了防止输入过大引起打滑,基于动力学模型数值分析了采矿机器人主动轮角加速度与打滑率之间的关系,采取限制主动轮角加速度方式防止采矿机器人过度打滑;最后通过Matlab/Simulink建立系统模型对系统进行仿真分析。仿真结果表明,该控制算法能够良好地完成采矿机器人的路径跟踪任务。
英文摘要:
      In deep-sea mining operations, the mining robot is easy to slip because of the soft and thin seabed soil, as well as the disturbance of seabed topography, ocean current and so on. Aiming at the problem of path following in seabed operation of mining robot, a path tracking control system of deep sea mining robot is designed and analyzed in this paper. Firstly, the control algorithm of path tracking of mining robot is proposed by heading control in which the target heading angle of the mining robot is calculated according to its position relative to the current target point. A fuzzy proportional-integral-derivative (PID) control method based on kinematic model is adopted to control the rotational speed difference on both sides of the mining robot to control the heading of the mining robot so as to control the robot to walk along the target path, at the same time, the relation between the angular acceleration of the driving wheel and the skidding rate of the mining robot is numerically analyzed based on the dynamic model to prevent the excessive skidding of the mining robot. Finally, the system model is established by Matlab/Simulink to simulate and analyze the system. The simulation results show that the control algorithm can complete the path tracking task of the mining robot well.
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