Coordinated control of the deep sea mining vehicle-pipeline-ship system during its integrate operation process

According to the environment of Chinese deep sea mining area, the influence from the ship and the miner on the sea bed is analyzed, and the coordinated working mode of the ship and the miner is proposed. Meanwhile, the working path of the miner is determined. Considering the safe areas of the ship, miner and the buffer, the relative distance between the ship and the miner, that is 240 meters, is presented as the coordinated control target. Also, the saddle shape of the flexible hose, which ensure the productivity of the transportation, can be guaranteed. A simple PID control strategy is put forward and the model of control system is ascertained. Through along and adverse current simulations, the efficiency and accuracy of the presented coordinated control strategy is proved.