On November 20, China's "Struggle" all-sea deep manned submersible successfully completed the 10,000-meter deep diving test. The "Struggle" all-sea deep manned submersible successfully completed the 10,000-meter deep diving test, setting a new record of 10,909 meters for manned deep diving in China, and completed deep diving operations in the Mariana Trench many times and obtained a large number of biological , Geology and other deep seabed samples.
ZKSY Automation Technology Group is responsible for the development of submersible automatic control and execution systems. The intelligent control system, electric observation gimbal and master-slave servo hydraulic manipulator developed by ZKSY and other deep-sea technical equipment strongly support the "Struggle" to achieve high-precision navigation control, panoramic scientific observation, high-precision operation sampling and other functions.
In response to technical problems such as large-inertia carrier multi-degree-of-freedom navigation and control, safe and reliable operation of the system in the complex deep-sea environment, the "Struggle" control system realized online intelligent fault diagnosis based on data and model prediction, fault-tolerant control based on online control distribution, Submarine autonomous collision avoidance and other functions have improved the intelligence and safety of the submersible; the algorithm based on neural network optimization has realized the high-precision control functions of large inertia carrier on the seabed to automatically match terrain, cruise, fixed-point navigation, and hover positioning. , The navigation control performance indicators on the horizontal and vertical planes have reached the international advanced level.
Two sets of master-slave servo hydraulic manipulators have 7 joints, which can realize 6-degree-of-freedom motion control, and have a load-holding capacity of more than 60 kg. They can cover the sampling basket and the front working area, and have powerful working capabilities. Breakthroughs in ultra-high pressure sealing technology and ultra-high pressure oil environment drive and control technologies. The manipulator successfully completed the precise tasks of rock, biological grasping and sediment sampler operation on the abyssal seabed, filling the gap in China's application of full-sea deep hydraulic manipulators for 10,000-meter operations; two electric observation gimbals, breaking through the ultra-high pressure High-precision transmission control in the environment, high-compact integrated design and other technologies can be equipped with multiple scientific research equipment to achieve omnidirectional underwater observation, providing full-scene observation data for abyssal scientific research.
The deep-sea manipulator developed by ZKSY breaks the foreign monopoly and realizes the reversal from import to export. Breaking through the technological blockade and dependence on imported products, we independently researched and developed deep-sea manipulators, provided core intelligent control operation tools for "Deep Sea Warrior" and "Struggle", and realized the first export of China's R&D high-end manipulators.