【摘要】 设计了一套能够适应大洋富钴结壳微地形的采矿机构的控制系统,该系统由液压单元、地貌探测和处理单元、通讯单元、控制和显示单元以及数据存储单元等组成。并针对该控制系统进行了参数模糊自整定PID设计。仿真结果表明,与常规数字PID控制器相比,参数模糊自整定PID控制器阶跃响应超调量、调节时间明显减少,具有较好的动静态特性,表现出较强的自适应能力。更多还原

【Abstract】 In this paper,a control system of a mining device,which can adapt to the tiny-terrain of ocean cobalt-rich crusts,is designed.The control system consists of five units: hydraulic unit,terrain detecting unit,communication unit,control and display unit,and data storage unit.A parameter fuzzy self-adjusting PID controller for the control system is also studied.Simulation indicates that the overshoot and setting time of step response of parameter fuzzy self-adjusting PID controller are obviously lower than that of the normal digital PID controller,and it is of better dynamic and static properties and strong self-approaching ability.更多还原