...然科学版-免费论文下载/阅读 关键字： 海底采矿车；变论域理论；模糊控制；协同仿真[gap=1790]Key words: seabed mining vehicle; theory of the variable universe; fuzzy control; co-simulation..
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海底采矿车按预定路径行走控制为采矿作业关键技术之一。
It is a key technology that cobalt crust mining walks on the Scheduled path.
深海采矿车为液压驱动低速履带车，在海底按一条S形的预定路径作业。
Seabed mining vehicle is hydraulic drive, low speed and tracked, which runs alongs-shaped path.
通过分析转向过程中采矿车与海底底质的作用力关系，建立了采矿车在海底斜坡转向的运动学模型，设计了以最优控制器为核心的转向控制系统。
Secondly, the mining vehicle's kinematic model is deduced as driving on the slope. Finally, the optimal steering controller is designed as a key determinant of the turning control system.
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