本文選題：液壓動(dòng)力車(chē)組 + 協(xié)調(diào)行走��； 參考：《燕山大學(xué)》2015年碩士論文

【摘要】：對(duì)煤礦行業(yè)而言,物料的輔助運(yùn)輸成本在總生產(chǎn)成本中占有較大比重,而對(duì)于巷道內(nèi)輔助運(yùn)輸而言,無(wú)軌運(yùn)輸因其投資小、占地少、機(jī)動(dòng)靈活、效率高等優(yōu)勢(shì)對(duì)于降低成本具有顯著效果。因此無(wú)軌輔助運(yùn)輸已成為巷道輔助運(yùn)輸?shù)陌l(fā)展趨勢(shì),研制靈活高效的巷道無(wú)軌輔助運(yùn)輸設(shè)備具有重要意義。本文以燕山大學(xué)和江蘇天明機(jī)械集團(tuán)聯(lián)合研制的WC80(Y)型巷道重載分體式運(yùn)輸車(chē)為基礎(chǔ),在國(guó)家重點(diǎn)實(shí)驗(yàn)室開(kāi)放基金項(xiàng)目“巷道輪式重載液壓動(dòng)車(chē)組轉(zhuǎn)向技術(shù)基礎(chǔ)理論研究”(項(xiàng)目編號(hào):GZKF-201103)的大力支持下,結(jié)合煤礦巷道環(huán)境特點(diǎn),對(duì)用于巷道輔助運(yùn)輸?shù)南锏垒喪街剌d液壓動(dòng)力車(chē)組(以下簡(jiǎn)稱(chēng)液壓動(dòng)力車(chē)組)的協(xié)調(diào)行走技術(shù)進(jìn)行了深入研究,具體主要研究?jī)?nèi)容如下:(1)根據(jù)液壓動(dòng)力車(chē)組特殊的工作和設(shè)計(jì)要求確定液壓動(dòng)力車(chē)組的轉(zhuǎn)向形式,設(shè)計(jì)液壓動(dòng)力車(chē)組轉(zhuǎn)向機(jī)構(gòu);為進(jìn)一步提高整車(chē)安全性,對(duì)車(chē)體間連接部件的可靠性進(jìn)行強(qiáng)度校核。(2)為提高整車(chē)轉(zhuǎn)向靈活性,解決轉(zhuǎn)向液壓系統(tǒng)反應(yīng)速度慢,控制精度差的問(wèn)題,設(shè)計(jì)基于電液比例控制的轉(zhuǎn)向液壓系統(tǒng),重點(diǎn)對(duì)液壓系統(tǒng)比例多路閥中的先導(dǎo)控制減壓閥的靜動(dòng)態(tài)特性進(jìn)行研究分析。(3)針對(duì)巷道斷面尺寸復(fù)雜、多岔道和狹小的特點(diǎn),提出了基于頭車(chē)軌跡的跟蹤控制策略,基于采樣分段擬合法建立了頭車(chē)的行車(chē)軌跡函數(shù),并完成單車(chē)軌跡跟蹤控制方案和跟蹤控制律的設(shè)計(jì)。(4)設(shè)計(jì)模擬實(shí)驗(yàn)平臺(tái)及數(shù)據(jù)采集系統(tǒng),并針對(duì)所提出的協(xié)調(diào)行走控制策略進(jìn)行模擬實(shí)驗(yàn),設(shè)計(jì)相應(yīng)的數(shù)據(jù)采集系統(tǒng)對(duì)實(shí)驗(yàn)數(shù)據(jù)進(jìn)行采集分析,驗(yàn)證協(xié)調(diào)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.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TD52

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本文編號(hào)：1875203