巷道轮式重载液压动力车组协调转向液压与控制技术研究
发布时间：2018-08-18 20:22
【摘要】：随着我国煤矿矿井规模不断扩大,开采距离持续增加,大型采煤设备的巷道内运输逐渐成为制约矿井高产高效的瓶颈。自2009年起,燕山大学赵静一教授科研团队与江苏天明机械集团合作开发了分体式的采煤设备运输车,并形成了系列产品,后续产品在承载能力、安全性、可靠性等方面不断得到提高。基于现有技术储备,深入进行协调转向控制理论课题的研究,研究巷道轮式重载液压动车组,为实现整车单人驾驶和进一步提高运输效率提供理论支持。该课题得到了国家自然科学基金、河北省自然科学基金、流体动力与机电系统国家重点实验室开放基金的支持。巷道轮式重载液压动车组以巷道分体式运输车为研究基础,介绍了目前已经投入运行的巷道分体式运输车的主要结构形式、性能指标与各部分的液压系统。通过AMESIM机构运动仿真与MATLAB的数据拟合处理,得到转向角度与液压缸位移之间的显性函数关系。建立电液转向控制系统模型,设计PID控制器,采用试凑法确定PID参数,利用SIMULINK进行仿真分析。设计模糊PID控制器,制定各变量隶属度函数与模糊控制规则,利用SIMULINK进行仿真分析。对比不同控制器对于转向控制系统的控制效果。以EPEC2024控制器的程序扫描周期0.01s为离散时间间隔对基于模糊PID的电液转向控制系统进行离散化处理,利用SIMULINK进行仿真分析。简要介绍CAN通讯协议与CANopen通讯协议,介绍了常用的CAN总线组网结构,简要介绍了CODESYS2.1的使用方法。针对转向控制系统对EPEC2024控制器进行参数设置,对控制器上的CAN2.0B与CANopen接口进行初始化编程设置。设计角度传感器数据转化程序模块、位移传感器数据转化程序模块与数字式分段PID控制器程序模块。设计模拟实验平台,确定其结构形式与硬件组成。通过CAN总线将模拟实验平台各运动单元的控制系统建立起局域网通讯。根据协调转向控制策略设计控制器程序,运行试验,采集实验数据。处理实验数据,生成实验曲线,分析实验结果,通过优化参数设置,成功完成模拟实验。
[Abstract]:With the expansion of coal mine scale and the increase of mining distance, the transportation of large coal mining equipment in roadway has gradually become the bottleneck restricting mine production and efficiency. Since 2009, the research team of Professor Zhao Jingyi of Yanshan University and Jiangsu Tianming Machinery Group have developed a separate coal mining equipment transport vehicle, and formed a series of products, the subsequent products in carrying capacity, safety, Reliability and other aspects have been continuously improved. Based on the existing technical reserve, the research on coordinated steering control theory is carried out in depth, and the wheeled heavy duty hydraulic EMU in roadway is studied, which provides theoretical support for the realization of single driving of the whole vehicle and further improvement of transportation efficiency. The project is supported by the National Natural Science Foundation of China, the Natural Science Foundation of Hebei Province, and the Open Foundation of State key Laboratory of fluid Dynamics and Electromechanical Systems. This paper introduces the main structure, performance index and hydraulic system of the roadway separated transport vehicle which has been put into operation at present on the basis of the research on the roadway wheeled heavy load hydraulic EMU. The explicit function relationship between steering angle and displacement of hydraulic cylinder is obtained by simulation of AMESIM mechanism and data fitting of MATLAB. The model of electro-hydraulic steering control system is established, the PID controller is designed, the PID parameters are determined by trial and error method, and the simulation analysis is carried out by SIMULINK. The fuzzy PID controller is designed and the membership function and fuzzy control rules of each variable are worked out. The simulation analysis is carried out by SIMULINK. The control effect of different controllers on steering control system is compared. The electro-hydraulic steering control system based on fuzzy PID is discretized with the program scanning period of EPEC2024 controller at the interval of 0.01s, and the simulation analysis is carried out by SIMULINK. This paper briefly introduces CAN communication protocol and CANopen communication protocol, introduces the common CAN bus network structure, and briefly introduces the usage of CODESYS2.1. The parameters of the EPEC2024 controller are set for the steering control system, and the CAN2.0B and CANopen interfaces on the controller are initialized and programmed. Design angle sensor data conversion program module, displacement sensor data conversion program module and digital subsection PID controller program module. The simulation experiment platform is designed to determine its structure and hardware composition. Local area network (LAN) communication is established by CAN bus for the control system of each motion unit in the simulation experiment platform. According to the coordinated steering control strategy, the controller program is designed, the test is run, and the experimental data are collected. The experimental data are processed, the experimental curves are generated, the experimental results are analyzed, and the simulation experiment is successfully completed by optimizing the parameter setting.
【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
本文编号：2190571
[Abstract]:With the expansion of coal mine scale and the increase of mining distance, the transportation of large coal mining equipment in roadway has gradually become the bottleneck restricting mine production and efficiency. Since 2009, the research team of Professor Zhao Jingyi of Yanshan University and Jiangsu Tianming Machinery Group have developed a separate coal mining equipment transport vehicle, and formed a series of products, the subsequent products in carrying capacity, safety, Reliability and other aspects have been continuously improved. Based on the existing technical reserve, the research on coordinated steering control theory is carried out in depth, and the wheeled heavy duty hydraulic EMU in roadway is studied, which provides theoretical support for the realization of single driving of the whole vehicle and further improvement of transportation efficiency. The project is supported by the National Natural Science Foundation of China, the Natural Science Foundation of Hebei Province, and the Open Foundation of State key Laboratory of fluid Dynamics and Electromechanical Systems. This paper introduces the main structure, performance index and hydraulic system of the roadway separated transport vehicle which has been put into operation at present on the basis of the research on the roadway wheeled heavy load hydraulic EMU. The explicit function relationship between steering angle and displacement of hydraulic cylinder is obtained by simulation of AMESIM mechanism and data fitting of MATLAB. The model of electro-hydraulic steering control system is established, the PID controller is designed, the PID parameters are determined by trial and error method, and the simulation analysis is carried out by SIMULINK. The fuzzy PID controller is designed and the membership function and fuzzy control rules of each variable are worked out. The simulation analysis is carried out by SIMULINK. The control effect of different controllers on steering control system is compared. The electro-hydraulic steering control system based on fuzzy PID is discretized with the program scanning period of EPEC2024 controller at the interval of 0.01s, and the simulation analysis is carried out by SIMULINK. This paper briefly introduces CAN communication protocol and CANopen communication protocol, introduces the common CAN bus network structure, and briefly introduces the usage of CODESYS2.1. The parameters of the EPEC2024 controller are set for the steering control system, and the CAN2.0B and CANopen interfaces on the controller are initialized and programmed. Design angle sensor data conversion program module, displacement sensor data conversion program module and digital subsection PID controller program module. The simulation experiment platform is designed to determine its structure and hardware composition. Local area network (LAN) communication is established by CAN bus for the control system of each motion unit in the simulation experiment platform. According to the coordinated steering control strategy, the controller program is designed, the test is run, and the experimental data are collected. The experimental data are processed, the experimental curves are generated, the experimental results are analyzed, and the simulation experiment is successfully completed by optimizing the parameter setting.
【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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