Structure of the electromechanical part and synthesis of the stepper machine motion control algorithm for deep-sea research
- Student G.V. Plekhanov Saint Petersburg State Mining Institute
Abstract
The Russian Federation is one of the largest miners and exporters of natural resources worldwide. The mineral reserves at the bottom of the world's oceans are many times greater than those on land, which makes it necessary to develop fundamentally new equipment for their extraction. One of the most interesting solutions to this problem is a double-supported walking machine. The issues devoted to the development of the structure and algorithm of controlling the motion of the walking machine for mining minerals from the seabed are considered. A mathematical model of the electromechanical drive for turning the chassis during stepping is proposed, technical requirements to the electromechanical drives of the machine are stated and the control algorithm of the non-contact electric drive is described.
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