Free-model Based Decoupling of Nodules Collector Device Height and Collector Attitude

Nodules collector device is drived by hydraulie system to collect nodules during the deep-sea vehicle's operation.This paper studies the influence of collector attitude on nodules collector height during the deep-sea vehicle's operation,analyzes the coupling mechanism between them,in view of the coupling between the nodules collector height and the collector attitude.Based on the characteristic of the coupling objects it optimizes the decouple parameters,and the simulation result proves that the decoupling optimized algorithm compensates the hydraulic system lag,achieves the best collection efficiency,and enhances the stability of walking.