Slip control for deep sea mining vehicle: Sliding mode control approach

摘要

The paper discusses the slip control problem of a type of deep-sea mining vehicle (DSMV) which is driven by valve controlled hydraulic motors. The dynamics of the DSMV on a slope with a side angle is considered and the mathematical model of relationship between traction force and resistances is established for slip control purpose. A sliding mode control algorithm is proposed to decrease the slip of the vehicle through adjusting the slip ratio of the tracks of the DSMV and an approach is developed to obtain the optimal slip rate. The simulations validate the efficacy of the proposed approach.