The Control Methods Research and Performance Test on the Deep-sea Mining Ship Motion Simulator

摘要

A motion simulator of deep-sea mining ship is designed for the 6000m deep-sea poly-metallic mining system, the control methods and the performance of the simulator are researched and tested. PID control is chosen. To determine PID control parameters, mathematical model of valve controlled cylinder system is established and validated by simulation tests. Based on the mathematical model, PID control parameters are adjusted in Simulink and further readjusted during the tests to ensure better control effect. The motion tests are performed and the results show that the deep-sea mining ship motion simulator can move in the light of given periods and amplitudes under the predetermined attitudes, and is able to simulate the random motion of mining ship.