全地面救援提升车稳定性控制策略  

Stability Control Strategy of All-ground Rescue Hoisting Vehicle

作　　者：田冬梅[1] 徐百友 姚建[1] 贾畅畅 刘浩震 TIAN Dongmei;XU Bai you;YAO Jian;JIA Changchang;LIU Haozhen(School of Safety Engineering,North Chna Institute of Science and Technology,Sanhe,Hebei 065201,China)

机构地区：[1]华北科技学院安全工程学院,河北三河市065201

出　　处：《矿业研究与开发》2022年第2期174-178,共5页Mining Research and Development

基　　金：国家重点研发计划项目(2018YFC0808204);应急管理部规划财务司项目(规划财务司[2019]36)

摘　　要：为了研究全地面救援提升车在应急救援时的转向稳定性,基于Trucksim软件建立了整车动力学模型,并在Matlab/Simulink中建立救援提升车主动偏航控制模型,在单移线、蛇形和阶跃3种典型工况下,分析了横摆角速度-时间的关系,证实了主动偏航控制的有效性;对比研究了3种工况的稳定性控制能力,并在梅花井矿山进行了救援提升车蛇形工况下的稳定性验证。结果表明:在单移线工况下,救援提升车有很好的符合性,而在蛇形和阶跃转向工况条件下峰值分别降低了40%、28.6%,说明主动偏航控制策略能有效改善救援提升车在全地面转弯时的稳定性,研究结果可以为救援提升车转向稳定性设计及优化提供参考。In order to study the steering stability of the all-ground rescue hoisting vehicle during emergency rescue,the vehicle dynamics model was established based on Trucksim software»and the active yaw control model of the rescue hoisting vehicle was established in Matlab/Simulink.Under three typical operating conditions of single line shift,serpentine and step,the relationship between yaw rate and time was analyzed,and the effectiveness of active yaw control was confirmed.The stablility control abilities under above conditions were compared.And in Meihuajing Mine,the stability verification of the rescue hoisting vehicle under the serpentine condition was carried out.The results show that the rescue hoisting vehicle has a good compliance under the condition of single line shift,while the peak value is reduced by 40%and 28.6%under the conditions of serpentine and step steering,respectively,indicating that the active yaw control strategy can effectively improve the stability of the rescue hoisting vehicle when turning on all ground.The research results can provide a reference for the design and optimization of the steering stability of the rescue hoisting vehicle.

关 键 词：全地面救援提升车 主动偏航控制 控制策略 矿山救援 

分 类 号：TD774[矿业工程—矿井通风与安全]