Research on Anti-slip Control System for Deep Sea Mining Vehicle

A dynamic model on deep sea mining model vehicle which is drove by hydraulic system is established.An integral-separated PID controller is designed to decrease the slip of the vehicle through adjusting the slip ratio of the vehicle.The designed controller can adjust the electric-hydraulic proportional directional valve to control the torque of the motor.Based on this control the slip-ratio will be around the anticipant level.The simulation results show the availability of this method.