摘要
为了确定最适用于深海采矿车履带速度控制的控制算法,基于已知的深海采矿车液压控制模型,建立了速度闭环控制的控制系统流程。研究了伯德图校正法、最优控制法、PID控制法以及自适应模糊PID的控制效果。仿真结果表明,自适应模糊PID法最适用于深海采矿车的速度控制。
In order to determine the most suitable control algorithm for speed control of deep-sea mining vehicle track,based on the hydraulic control model of deep-sea mining vehicles,a control system flow for closed-loop speed control was developed.The control effects of Bode diagram control method,optimal control method,PID control method and adaptive fuzzy PID control method were studied.The simulation results show that the adaptive fuzzy PID method is the most suitable for the speed control of deep-sea mining vehicles.
作者
吴友华
陈昱衡
侯井宝
吴鸿云
WU Youhua;CHEN Yuheng;HOU Jingbao;WU Hongyun(Changsha Institute of Mining Research,Changsha,Hunan 410012,China;Central South University,Changsha,Hunan 410083,China)
出处
《矿业研究与开发》
CAS
北大核心
2021年第5期150-155,共6页
Mining Research and Development
基金
科技部“深海多金属结核采矿试验工程”项目(2016YFC0304102).
关键词
深海采矿车
速度控制
液压系统
控制算法
Deep-sea mining vehicle
Speed control
Hydraulic system
Control algorithm
