Virtual modelling and navigation controls of underwater mining machine

Author

Varshney, Neeraj ; Janarthanan, C. ; Muthuvel, P. ; Ramesh, N.R. ; Deepak, C.R. ; Atmanand, M.A.

Author_Institution

Nat. Inst. of Ocean Technol., Chennai, India

fYear

2013

fDate

23-25 Oct. 2013

Firstpage

202

Lastpage

207

Abstract

The speed and heading control of the deep sea tracked mining machine is one of the significant aspect for maneuvering of the underwater crawler based mining machine in various terrains and carry out the turning movement on the deep sea soil. In this paper, a mathematical model is used to simulate the dynamics of the mining machine considering all the internal and external resistances acting on the machine. A co-simulation of mathematical model with a virtual model of the underwater mining machine has been used to control the mining machine for heading control for the locomotion of the mining machine in deep sea soil conditions.

Keywords

control engineering computing; marine navigation; mathematical analysis; mechanical engineering computing; mining equipment; tracked vehicles; underwater equipment; underwater vehicles; virtual reality; cosimulation; deep sea soil conditions; deep sea tracked mining machine; locomotion; mathematical model; navigation controls; underwater crawler maneuvering; underwater mining machine dynamics; virtual modelling; Crawlers; Mathematical model; Resistance; Software packages; Soil; Vehicle dynamics; Vehicles; ADAMS and Controls; Mining Machine; Simulink;

fLanguage

English

Publisher

ieee

Conference_Titel

Ocean Electronics (SYMPOL), 2013

Conference_Location

Kochi

ISSN

2326-5558

Print_ISBN

978-93-80095-45-5

Type

conf

DOI

10.1109/SYMPOL.2013.6701931

Filename

6701931