深海采矿船运动模拟器控制方法研究及性能试验

2011 Fourth International Conference on Intelligent Computation Technology and Automation Pub Date : 2011-03-28 DOI:10.1109/ICICTA.2011.473

Wang Mingfeng, Liu Shaojun, Hu Qiong, Zeng Yihui, Pan Xin

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引用次数: 0

摘要

针对6000米深海多金属采矿系统，设计了深海采矿船运动模拟器，对模拟器的控制方法和性能进行了研究和测试。采用PID控制。为了确定阀控缸系统的PID控制参数，建立了阀控缸系统的数学模型，并通过仿真试验进行了验证。根据数学模型，在Simulink中调整PID控制参数，并在试验过程中进一步调整，以确保更好的控制效果。进行了运动试验，结果表明，深海采矿船运动模拟器能够在预定姿态下按照给定的周期和幅度运动，能够模拟采矿船的随机运动。

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The Control Methods Research and Performance Test on the Deep-sea Mining Ship Motion Simulator

A motion simulator of deep-sea mining ship is designed for the 6000m deep-sea poly-metallic mining system, the control methods and the performance of the simulator are researched and tested. PID control is chosen. To determine PID control parameters, mathematical model of valve controlled cylinder system is established and validated by simulation tests. Based on the mathematical model, PID control parameters are adjusted in Simulink and further readjusted during the tests to ensure better control effect. The motion tests are performed and the results show that the deep-sea mining ship motion simulator can move in the light of given periods and amplitudes under the predetermined attitudes, and is able to simulate the random motion of mining ship.

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2011 Fourth International Conference on Intelligent Computation Technology and Automation

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