Research on the Control of Steering of the Separated Overloaded Vehicles under Complex Mine Environment

doi:10.3901/JME.2016.06.116

Abstract

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

CLC Number:

TG156

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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