巷道轮式重载液压动力车组协调行走技术研究

发布时间：2018-05-11 19:09

本文选题：液压动力车组 + 协调行走　；参考：《燕山大学》2015年硕士论文

【摘要】：对煤矿行业而言,物料的辅助运输成本在总生产成本中占有较大比重,而对于巷道内辅助运输而言,无轨运输因其投资小、占地少、机动灵活、效率高等优势对于降低成本具有显著效果。因此无轨辅助运输已成为巷道辅助运输的发展趋势,研制灵活高效的巷道无轨辅助运输设备具有重要意义。本文以燕山大学和江苏天明机械集团联合研制的WC80(Y)型巷道重载分体式运输车为基础,在国家重点实验室开放基金项目“巷道轮式重载液压动车组转向技术基础理论研究”(项目编号:GZKF-201103)的大力支持下,结合煤矿巷道环境特点,对用于巷道辅助运输的巷道轮式重载液压动力车组(以下简称液压动力车组)的协调行走技术进行了深入研究,具体主要研究内容如下:(1)根据液压动力车组特殊的工作和设计要求确定液压动力车组的转向形式,设计液压动力车组转向机构;为进一步提高整车安全性,对车体间连接部件的可靠性进行强度校核。(2)为提高整车转向灵活性,解决转向液压系统反应速度慢,控制精度差的问题,设计基于电液比例控制的转向液压系统,重点对液压系统比例多路阀中的先导控制减压阀的静动态特性进行研究分析。(3)针对巷道断面尺寸复杂、多岔道和狭小的特点,提出了基于头车轨迹的跟踪控制策略,基于采样分段拟合法建立了头车的行车轨迹函数,并完成单车轨迹跟踪控制方案和跟踪控制律的设计。(4)设计模拟实验平台及数据采集系统,并针对所提出的协调行走控制策略进行模拟实验,设计相应的数据采集系统对实验数据进行采集分析,验证协调行走控制策略的可行性。
[Abstract]:For the coal mine industry, the auxiliary transportation cost of materials accounts for a large proportion of the total production cost, but for the auxiliary transportation in the roadway, the trackless transportation is flexible because of its small investment, small occupation and flexibility. The advantage of high efficiency has remarkable effect on reducing cost. Therefore, trackless auxiliary transportation has become the development trend of roadway auxiliary transportation, and it is of great significance to develop flexible and efficient laneway trackless auxiliary transportation equipment. This paper is based on the WC80YY type roadway heavy load separated transport vehicle developed jointly by Yanshan University and Jiangsu Tianming Machinery Group. With the support of the opening fund project of the State key Laboratory, "basic theory research on steering technology of roadway wheeled heavy load hydraulic EMU" (Project No.: GZKF-201103), combined with the characteristics of coal mine roadway environment, In this paper, the coordinated walking technology of the wheeled heavy duty hydraulic vehicle set (hereinafter referred to as the hydraulic power train group) used in roadway auxiliary transportation is deeply studied. The specific research contents are as follows: (1) according to the special work and design requirements of the hydraulic power vehicle group, the steering form of the hydraulic power train group is determined, and the steering mechanism of the hydraulic power train group is designed; in order to further improve the safety of the whole vehicle, In order to improve the steering flexibility, solve the problems of slow reaction speed and poor control precision of steering hydraulic system, a steering hydraulic system based on electro-hydraulic proportional control is designed. The static and dynamic characteristics of pilot control pressure reducing valve in proportional multiway valve of hydraulic system are studied and analyzed emphatically. Aiming at the complex cross section size of roadway, multiple bifurcations and narrow characteristics, a tracking control strategy based on the track of head car is put forward. Based on the sampling piecewise fitting method, the driving track function of the head car is established, and the design of the track tracking control scheme and tracking control law of the bicycle is completed. The simulation experimental platform and the data acquisition system are designed. The proposed coordinated walking control strategy is simulated and the corresponding data acquisition system is designed to collect and analyze the experimental data to verify the feasibility of the coordinated walking control strategy.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD52

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