本文選題：4WIS + 運(yùn)動軌跡　； 參考：《長沙礦山研究院》2015年碩士論文

【摘要】：目前我國地下金屬礦山的自動化、智能化開采技術(shù)遠(yuǎn)遠(yuǎn)落后于國外發(fā)達(dá)國家,這種現(xiàn)狀嚴(yán)重制約著我國地下金屬礦山的安全性生產(chǎn)和開采效率,因此急需展開對自動化、智能化的高效地下鑿巖設(shè)備的研發(fā)工作。本文針對國家863課題“地下高氣壓智能潛孔鉆機(jī)”其中一項關(guān)鍵性技術(shù)——智能化四輪獨(dú)立轉(zhuǎn)向(Four Wheel independent Steering-4WIS)技術(shù)展開研究。鉆機(jī)轉(zhuǎn)向性能會直接影響其在地下采場中的安全通過性及作業(yè)效率,因此,本文對鉆機(jī)的轉(zhuǎn)向方式進(jìn)行了一系列的理論及試驗研究。文章針對4WIS技術(shù)展開闡述,主要分為以下四個部分:一、為了滿足地下潛孔鉆機(jī)行走的定位需求,提出了地下潛孔鉆機(jī)在地下采場行走作業(yè)最優(yōu)的轉(zhuǎn)向方式。包括地下潛孔鉆機(jī)的結(jié)構(gòu),工作原理,工作流程,定位,采礦工藝及方法等;二、根據(jù)地下潛孔鉆機(jī)行走定位需求,對目前幾種常見的轉(zhuǎn)向方式逐一展開了討論。分別建立了其轉(zhuǎn)向運(yùn)動學(xué)及動力學(xué)數(shù)學(xué)模型,分析了各自的行走特點(diǎn)及運(yùn)動軌跡,最后選擇了一種最適合智能化地下潛孔鉆機(jī)的轉(zhuǎn)向方式——四輪獨(dú)立轉(zhuǎn)向;三、對4WIS鉆機(jī)的運(yùn)動控制進(jìn)行了研究。簡單介紹了地下潛孔鉆機(jī)4WIS機(jī)構(gòu)的結(jié)構(gòu)及工作原理,可知控制其運(yùn)動軌跡的關(guān)鍵是對轉(zhuǎn)向液壓油缸及液壓馬達(dá)的控制,主要控制四個輪子的轉(zhuǎn)角變化。為了減少鉆機(jī)行走的軌跡誤差,通過比較分析,最終采取了模糊PID閉環(huán)控制方法。四、根據(jù)模糊PID控制四輪獨(dú)立轉(zhuǎn)向運(yùn)動設(shè)計思想及要求,用MATLAB/SIMULINK建立了4WIS控制系統(tǒng)仿真模型,對地下潛孔鉆機(jī)最常用的兩種四輪獨(dú)立轉(zhuǎn)向模式:斜向及原地轉(zhuǎn)向運(yùn)動軌跡進(jìn)行了仿真試驗,驗證了模糊PID控制的有效性及可行性。最后對地下潛孔鉆機(jī)樣機(jī)進(jìn)行了4WIS轉(zhuǎn)向?qū)嶒?驗證了模糊PID控制策略對轉(zhuǎn)向同步性的作用。為了滿足智能化地下潛孔鉆機(jī)行走定位需求,基于運(yùn)動優(yōu)化目標(biāo),本文主要對四輪獨(dú)立轉(zhuǎn)向運(yùn)動控制進(jìn)行了研究和對其樣機(jī)進(jìn)行了試驗,對井下移動設(shè)備的轉(zhuǎn)向控制起到指導(dǎo)性作用,有一定的實用性。
[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.
【學(xué)位授予單位】：長沙礦山研究院
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TD632

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