摘要
深海自行走履带采矿车作业过程,受到作业环境和采矿车自身的影响,具有未知性、随机性、非线性等特性。针对这种复杂控制过程,采用一种基于自修正专家模糊控制的路径跟踪控制方案,控制深海履带车行走。该方案参考履带车辆转向运动学方程,采用具自调整功能的模糊算法,对深海底履带集矿机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。
On the effect of environment and mining vehicle itself, deep seabed Self-propelled tracked mining machine mining process has characteristics of unknown, random, and nonlinear etc. In this paper, a self-adjustable expert fuzzy controller is presented to control deep seabed self-propelled tracked mining vehicle to follow specified path. Based on tracked vehicle kinematical equation, an adjustable fuzzy controller is used to control right and left tracked speed.Simulation validates its feasibility and validity.
出处
《计算技术与自动化》
2005年第1期9-12,共4页
Computing Technology and Automation
基金
国际海底区域研究开发"十五"项目(DY-105-03-02-06)
