For the deep-sea mining system, tracked vehicle is widely used as a miner. From the data of characteristic of the seabed sediment, on which the miner is walking, the relationship of the traction force of the miner and the slip rate of the track is established. The soil-track interaction, an essential issue in tracked vehicle modeling, has been analyzed in detail. Then the kinematic model of the deep-sea tracked miner is established and a PID control strategy is presented to make the miner walk along the desired path. After a series of computer simulations in MATLAB, the validity of the control strategy is confirmed.
Dynamic Analysis and Path Tracking Control of Deep-Sea Tracked Miner
Advanced Materials Research ; 753-755 ; 1161-1168
2013-08-30
8 pages
Article (Journal)
Electronic Resource
English
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