【作者】 陈波；

【导师】 李力；

【作者基本信息】 中南大学 ， 机械工程， 2012， 硕士

【摘要】 富钴结壳是一种极具经济价值和战略意义的海洋矿产资源。由于富钴结壳富存于海山表面,所处地形地貌极其复杂,开采极为困难。本论文针对钴结壳采矿系统关键技术之一的采矿车行走路径控制问题进行了研究。本文主要研究工作如下：1.采用了车体转向式铰接履带车为钴结壳采矿车行走方案,构建了采矿车动力学模型,提出了采矿车直线行走控制方案。2.分析了障碍物和采矿车特性对路径规划的影响,采用了障碍物膨化处理和镜像路径曲线的方法,设计了采矿车路径规划总体方案,确定了遗传算法的路径编码方式、路径基因初始种群设定、路径适应度函数和遗传操作等基本环节,设计了基于遗传算法的避障路径规划最优化方案,采用VC++6.0语言,实现采矿车避障最优化路径规划仿真,仿真表明,经过40代迭代运算可规划出较优的避障路径,说明所设计的基于遗传算法的采矿车局部路径规划算法的可行性和有效性。3.建立了以流量补偿和滑转率实时控制为内环和模糊控制路径偏差为外环的采矿车行走路径跟踪控制模型,设计了模糊逻辑控制器、速度换算模块、滑转率补偿与控制模块、流量稳定控制模块、液压系统模块、位置和方位角模块、路径比较和位置偏差模块。4.开展了采矿车的启动、直线路径跟踪及过单边障碍三种工况仿真分析,仿真表明,所设计的控制算法能有效地消除方位角误差和横向位移偏差,可实现采矿车直线路径跟踪。5.进行了采矿车的直线行走实验和跨单边障碍行走实验。实验表明,采矿车按预定路径行走效果良好,说明,所设计的控制器是有效的。更多还原

【Abstract】 Cobalt-rich crust is a kind of marine mineral resources which is of highly economic value and strategetic significance. However, the complicated landform where cobalt-rich crust often exists makes the exploitation work very difficult. The paper focuses on one of the key techniques of the system for exploiting cobalt-rich crust, namely, the control problem of the mining vehicles’ moving path. And the research work mainly inludes the following:1.It adopts the vehicle-body-steering-type articulated tracked vehicles as the program for the mining vehicles’ path of exploiting cobalt-rich crust, constructs a dynamics model of the mining vehicles, and proposes a control program for the mining vehicles’s straight line moving.2. It analyses the impact of obstacles and mining vehcles’ features on the path planning, adopts the method of obstacles’ expanding treatment and mirror image path curve, designs the overall program for mining vehcles’path planning, fixes the fundamental links such as genetic algorithm’s path coding method, initial population setting for path genes, path to fitness function and genetic operation, and designs the genetic algorithm-based optimized program for obstacle avoidance path planning. Moreover, with the aid of VC++6.0language, it realizes the simulation of optimized program for obstacle avoidance path planning. The simulation shows that a better obstacle avoidance path can be designed after40-generation iterated operation and the results demostrates the feasibility and effectiveness of the partial path planning algorithm of genetic algorithm-based mining vehcles which is designed.3. It builds a mining vehcles’ moving path following control model with flow compensation and slippage rate real-time control as the inner ring and with fuzzy control path deviation as the outer ring. It designs a fuzzy logic controller, the speed conversion module, the slippage rate compensation and control module, the flow stability control module, hydraulic circuit module, the position and azimuth module, and the path comparison and position deviation module.4. It gives a simulated analysis of the three working conditions including the mining vehicles’ start-up, straight path following and single obstacles. The simulation shows the algorithm designed can effectively elimilate azimuth errors and lateral displacement so as to realize the mining vehicles’straight path following.5. It carries out the mining vehicles’ straight moving experiments and cross-side obstacles moving experiments. The experiments show that the effect of mining vehicles’moving on schedule is good and that the controller designed is efficient.更多还原