Dynamic Analysis and Path Tracking Control of Tracked Underwater Miner in Working Condition

In this paper, dynamic analysis of underwater tracked miner in working condition is done during both straight driving and steering. First, based on the relationship between maximum shear displacement and shear stress, required shear displacement during working of the tracked miner is obtained. Considering the bulldozing resistance, compaction resistance, water resistance and force from flexible hose, the dynamic and kinetic model of tracked underwater miner is established. By simulation, the shear displacement of both left and right track of the miner are obtained. By using PD control strategy, the tracked underwater miner can move along the desired path, and the shear displacement of both left and right track are successfully controlled and therefore the miner can get optimum tractive force. The work in this paper offers a theoretical base for further research.