Title :
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
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;
Conference_Titel :
Ocean Electronics (SYMPOL), 2013
Conference_Location :
Kochi
Print_ISBN :
978-93-80095-45-5
DOI :
10.1109/SYMPOL.2013.6701931
