地下潜孔钻机4WIS模型研究及控制优化

发布时间：2018-05-27 15:01

本文选题：4WIS + 运动轨迹　；参考：《长沙矿山研究院》2015年硕士论文

【摘要】：目前我国地下金属矿山的自动化、智能化开采技术远远落后于国外发达国家,这种现状严重制约着我国地下金属矿山的安全性生产和开采效率,因此急需展开对自动化、智能化的高效地下凿岩设备的研发工作。本文针对国家863课题“地下高气压智能潜孔钻机”其中一项关键性技术——智能化四轮独立转向(Four Wheel independent Steering-4WIS)技术展开研究。钻机转向性能会直接影响其在地下采场中的安全通过性及作业效率,因此,本文对钻机的转向方式进行了一系列的理论及试验研究。文章针对4WIS技术展开阐述,主要分为以下四个部分:一、为了满足地下潜孔钻机行走的定位需求,提出了地下潜孔钻机在地下采场行走作业最优的转向方式。包括地下潜孔钻机的结构,工作原理,工作流程,定位,采矿工艺及方法等;二、根据地下潜孔钻机行走定位需求,对目前几种常见的转向方式逐一展开了讨论。分别建立了其转向运动学及动力学数学模型,分析了各自的行走特点及运动轨迹,最后选择了一种最适合智能化地下潜孔钻机的转向方式——四轮独立转向;三、对4WIS钻机的运动控制进行了研究。简单介绍了地下潜孔钻机4WIS机构的结构及工作原理,可知控制其运动轨迹的关键是对转向液压油缸及液压马达的控制,主要控制四个轮子的转角变化。为了减少钻机行走的轨迹误差,通过比较分析,最终采取了模糊PID闭环控制方法。四、根据模糊PID控制四轮独立转向运动设计思想及要求,用MATLAB/SIMULINK建立了4WIS控制系统仿真模型,对地下潜孔钻机最常用的两种四轮独立转向模式:斜向及原地转向运动轨迹进行了仿真试验,验证了模糊PID控制的有效性及可行性。最后对地下潜孔钻机样机进行了4WIS转向实验,验证了模糊PID控制策略对转向同步性的作用。为了满足智能化地下潜孔钻机行走定位需求,基于运动优化目标,本文主要对四轮独立转向运动控制进行了研究和对其样机进行了试验,对井下移动设备的转向控制起到指导性作用,有一定的实用性。
[Abstract]:At present, the automation and intelligent mining technology of underground metal mines in China lag far behind those of developed countries. This situation seriously restricts the safety production and mining efficiency of underground metal mines in China. Intelligent and efficient underground drilling equipment R & D work. This paper focuses on the research of four Wheel independent Steering-4WIS, one of the key technologies of the national 863 project "Underground High pressure Intelligent submersible drilling rig". The steering performance of drilling rig will directly affect its safety and working efficiency in underground stope. Therefore, a series of theoretical and experimental studies on steering mode of drilling rig have been carried out in this paper. This paper describes the 4WIS technology, which is divided into the following four parts: first, in order to meet the need of positioning the underground submersible drill, the optimal steering mode of the underground submersible drilling rig in the underground stope is put forward. It includes the structure, working principle, working flow, positioning, mining technology and method of underground submersible drilling rig. Secondly, according to the requirement of underground submersible drilling rig's walking positioning, several common steering modes are discussed one by one. The mathematical models of steering kinematics and dynamics are established respectively, and their walking characteristics and trajectory are analyzed. Finally, a steering mode, which is the most suitable for intelligent underground submersible drilling rig, is selected, which is four-wheel independent steering. The motion control of 4WIS drilling rig is studied. The structure and working principle of 4WIS mechanism of underground submersible drilling rig are briefly introduced. The key to control its motion track is to control the steering hydraulic cylinder and hydraulic motor, mainly to control the change of rotation angle of four wheels. In order to reduce the trajectory error of drilling rig, the fuzzy PID closed loop control method is adopted through comparison and analysis. Fourthly, according to the design idea and requirement of fuzzy PID control four-wheel independent steering motion, the simulation model of 4WIS control system is established with MATLAB/SIMULINK. Two kinds of four wheel independent steering modes commonly used in underground submersible drilling rig, oblique and in situ steering trajectory, are simulated, and the validity and feasibility of fuzzy PID control are verified. Finally, the 4WIS steering experiment of underground submersible drill rig is carried out, which verifies the effect of fuzzy PID control strategy on steering synchronicity. In order to meet the need of intelligent underground submersible drilling rig, based on the motion optimization goal, this paper mainly studies the motion control of four-wheel independent steering and tests its prototype. It plays a guiding role in steering control of underground mobile equipment and has certain practicability.
【学位授予单位】：长沙矿山研究院
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD632

【参考文献】