An Integrated Dynamic Model and Optimized Fuzzy Controller for Path Tracking of Deep-Sea Mining Vehicle

Yu Dai,Qiao Su,Cong Xue

doi:10.3390/jmse9030249

Yu Dai, Qiao Su + Show 1 more

Open Access

https://doi.org/10.3390/jmse9030249

Copy DOI

Abstract

The capability of path tracking largely determines the operational efficiency of deep-sea mining vehicles. In this paper, the relationships of vehicle–sediment mechanical interaction were obtained by sinkage and shear tests. Then, an overset grid method was used to establish the computational fluid dynamics (CFD) model of the vehicle, and the spatial hydrodynamic distribution was calculated in different motion states. Based on the above research, a multi-body dynamic (MBD) model of the mining vehicle was developed, which considered the spatial hydrodynamic effects and the mechanical interaction between vehicle and sediment. In addition, a path-tracking controller based on fuzzy logic control was proposed. A genetic algorithm optimized the fuzzy rules through co-simulation between the controller and the MBD model. Finally, the co-simulation results of the vehicle which moved along the expected path indicated that the performance of the optimized fuzzy controller was preferable to the original fuzzy controller.

Highlights

Tracking of Deep-Sea Mining Vehicle.With the constant decrease of mineral resources on land, many countries and organizations are attracted to the rich mineral resources contained in the seafloor
When the deep-sea mining vehicle is crawling on the seafloor, its speed is the multi-body dynamic (MBD) model, they would be applied to develop the subroutine of the vehicle–sediment slow, hydrodynamic effects on its motion performance cannot be ignored with its large mechanical interaction
When the mining vehicle moved in a straight line, it is mainly subjected to longitudinal hydrodynamic resistance Flong, which mainly comes from the pressure difference between the front and rear surfaces of the vehicle

Summary

Introduction

Tracking of Deep-Sea Mining Vehicle.With the constant decrease of mineral resources on land, many countries and organizations are attracted to the rich mineral resources contained in the seafloor. The potential market of deep sea mining vehicle is large. Due to the influence of complicated hydrodynamic effects and particular mechanical interaction between vehicle and sediment, it is difficult to attain satisfactory path-tracking performance for the mining vehicle. Before exploration of the path-tracking control strategy of deep-sea mining vehicles, a dynamic model is needed. Hong et al [2] conducted dynamic simulations of a tracked vehicle through a simplified dynamic model and investigated steering performance. Kim et al [3,4] compared the advantages and disadvantages of two model types on tracked vehicles and used a large number of numerical simulations to analyze the hydrodynamic effects. For a seafloor-tracked vehicle, a single-body model was conducted to achieve a fast analysis of the moving process [5]. Phillips et al [7] utilized an analysis of CFD to predict hydrodynamic forces and moments for its accurate prediction

Methods

Results

Conclusion