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大洋富钴结壳富含战略金属钴等元素,极具开采价值。然而富钴结壳厚度的变化及其赋存的海底微地形的复杂性使得其开采比较困难。为现有的适应富钴结壳微地形的采掘机构合理搭建控制系统,并针对该系统设计有效的控制算法成为目前的关键技术。针对采矿头的特点,对其控制系统的研究与设计,控制系统共由5部分组成:液压系统、微地形检测装置、通讯装置、控制和监测装置及数据存储装置。根据深海实际开采要求采用了广泛用于采掘机械的微控制器和监视器,设计了参数模糊自整定PID控制器。在深水池进行了模拟料切削试验。结果表明,该控制系统各部分协调性好,具有适应微地形的能力。
Oceanic cobalt-rich crust is rich in strategic metal cobalt and other elements, very mining value. However, the change of cobalt-rich crust thickness and the complexity of its submarine microtopography make it more difficult to mine. It is the key technology for the existing reasonable control system to adapt to the extractive mechanism of the micro-topography of cobalt-rich crust and to design an effective control algorithm for this system. According to the characteristics of mining head, the control system research and design, the control system consists of five parts: hydraulic system, micro-topographic detection devices, communication devices, control and monitoring devices and data storage devices. According to the actual requirements of the deep sea mining used widely used in mining machinery microcontrollers and monitors, designed a fuzzy self-tuning parameters PID controller. In the deep pool simulate material cutting test. The results show that the various parts of the control system are well coordinated and have the ability to adapt to the microtopography.