中文摘要：

针对深海多金属锰结核的开采,以水力流体提升式采矿系统中的扬矿管的升沉补偿为研究对象,提出了一种基于SIMULINK中xPC Target模块环境下的实时在线控制系统,开发过程简单易行,支持在线参数修改,实现了在线实时控制功能,工作稳定,精度高。

英文摘要：

For deep-sea mining of polymetallic nodules to enhance the type of hydraulic fluid in the mining system of lifting the heave compensation as the research object, a module based on SIMULINK environment in the xPC Target real -time online control system development process is simple, support the online parameter changes to achieve real time control function, stable, high precision.