矿井复杂环境下的分体式重载运输车转向控制研究

doi:10.3901/JME.2016.06.116

摘要/Abstract

摘要： 由于大型采煤设备重量重、自行速度慢等特点的限制和井下巷道空间分布的约束,井下辅助运输设备在设计时应具有灵活的转向性能、较小的转弯半径和良好的复杂路面通过性。针对上述问题,研发适用于巷道复杂环境的分体式重载运输车,并对分体车转向系统进行协调与跟随控制研究。针对具有多自驱式子模块的分体车,构建转向数学模型,给出姿态识别和轨迹规划的实现方法,得出基于任意道路路径和车速的跟随控制的纠偏航向角及轨迹跟踪误差消除的多车模糊控制策略。搭建分体车协调转向试验平台,通过转向轨迹跟踪试验、直行偏差消除试验和避障试验,验证控制策略的可行性,经现场实车试验满足工况要求。研究结果对大型巷道辅助运输设备转向系统及其控制规律的研究与设计具有指导意义。

关键词: 分体转向, 模糊协调控制, 巷道运输, 协调跟随

Abstract: Due to the restrictions of heavy weight, slow speed and other characteristics of large-scale mining equipment and the constraint restriction of the space distribution of underground tunnels, auxiliary transportation equipment should be designed to have flexible steering performance, small turning radius and complex pavement. The coordination and follow control of the steering system of the separated overloaded vehicles which is applicable to the complex environment of the roadway is made a theoretical and experimental research. With the self-driven and multiple sub-modular separated vehicles, the steering mathematical model is constructed and the realization method of the mathematical model of spatial target gesture recognition and motion trajectory planning is given. Based on the fuzzy control method, the error correction strategy of multiple vehicles azimuthal error and trajectory tracking error for any road and speed are gotten. A separated vehicle steering coordination test platform is built and the feasibility of the control strategy is tested by steering trajectory track test, straight deviation elimination test and obstacle avoidance test. The requirements of working conditions is meet by the vehicle test. The research findings have significance for the large tunnel steering system and auxiliary transport equipment research and design control laws.

Key words: coordination and follow, fuzzy coordinal control, roadway transportation, separated steering

中图分类号:

TG156

郭锐, 宁超, 赵静一, 张振苗, 布丹. 矿井复杂环境下的分体式重载运输车转向控制研究[J]. 机械工程学报, 2016, 52(6): 116-123.

GUO Rui, NING Chao, ZHAO Jingyi, ZHANG Zhenmiao, BU Dan. Research on the Control of Steering of the Separated Overloaded Vehicles under Complex Mine Environment[J]. Journal of Mechanical Engineering, 2016, 52(6): 116-123.

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