巷道轮式液压动车组独立转向控制策略与轨迹分析  

Control Strategy and Trajectory Analysis of Independent Steering on Tunnel Wheeled Hydraulic Power Transportation Unit

作　　者：赵静一[1,2] 杨宇静[1,2] 纪弘祥[3] 

机构地区：[1]燕山大学河北省重型机械流体动力传输与控制实验室,河北秦皇岛066004 [2]先进锻压成形技术与科学教育部重点实验室(燕山大学),河北秦皇岛066004 [3]中国兵器集团北京北方车辆集团有限公司,北京100072

出　　处：《机床与液压》2014年第23期9-13,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(51175448);河北省自然科学基金资助项目(E2012203071);流体动力与机电系统国家重点实验室开放基金资助项目(GZKF-201103)

摘　　要：巷道轮式液压动车组(简称动车组)是在分体式连采机搬运车技术基础上研制的井下大型采煤设备辅助运输平台,具有高速度、高效率、超运力的优点。针对巷道中对车辆转向的苛刻要求,提出了整车转向协调控制策略,对该控制策略中直行偏差消除、转向过程轨迹跟踪控制方法及整车可通过性进行研究。该控制策略为多节独立转向车组的研发提供了理论依据,对工程实践具有指导意义。The tunnel wheeled hydraulic Power transportation unit （ PTU as brief） used in the coal mine tunnel is large under-ground mining auxiliary transport platform with high speed, high efficiency and ultra-capacity advantages, which was on the basis of the technology of split transport vehicle. Aimed at the high demanding of vehicle-s steering in tunnel, a coordinated vehicle steering control strategy is proposed. Research on elimination of the deviation in straight way, method of tracking control in the process of turning and the unit-s passing ability was conducted. The control strategy provides a theoretical basis to the development of multi-section independ-ent steering vehicle, and it has significance of an introduction for the engineering practice.

关 键 词：独立转向 控制策略 动车组 

分 类 号：TH238[机械工程—机械制造及自动化] U16[交通运输工程]