Heavy-load Hydraulic Multiple-units Tunel Wheel-type Transporter’s Coordinate Turning Hydraulic Achievement And Control Technology Research

With the scope of chinese mine expansing and the depth of the exploitation increasing, It is becoming a more and more serious limitation to transport large coal-machinery. Jingyi zhao’s group from yanshan university and jiangsu tianming mechanical group have had a good cooperation to design split-type coal-machinery transporter since 2009. They have developed a series of products, Which can tansport more large coal-machinery and is better safety and reliability. We continue to reserch coordinate turning system based on present technology, Which is important for us to develop a kind of heavy-load hydraulic multiple-units tunel transporter. The new product only need one people to steer, So It can have coal mine company have higher efficiency of transportation. This project have get support from National Natural Science Foundation of China, National Natural Science Foundation of Hebei province and Open Foundation of The State Key Laborary of Fluid Power Transmission and Control.Heavy-load hydraulic multiple-units tunel transporter is based on split-type coal-machinery transporter. Introduce split-type coal-machinery transporter’s structure, performance index and all the part of hydraulic system. Get the ralationship between turning angle and displacement of cylinder, AMEsim and MATLAB software need to be used.Accomplish the model of the eleco-hydraulic turning control system, Design PID contrller and got reasonable PID parameters, As following, Execute simulation in SIMULINK software. Design Fuzzy PID controller, Find membership function of all the variable and the fuuzy rule, As following, Execute simulation in SIMULINK software. Find the difference between the two kind of controller. Dispose the model of the eleco-hydraulic turning control system using of digitalize method, The sampling time is 10 ms in the process, As following, Execute simulation in SIMULINK software.Introduce simply CAN protocol and CANopen protocol, Introduce the structure of the CAN web, Introduce the direction of the CODESYS2.1 software. Choose initalize parameters of EPEC controller and complete to program, Which is necessary to have inerface of CAN2.0B and CANopen work normally. Design the data-acceptance program module from sensor and digital sectional-type incremental PID controller program module.Design the mock experiment platform, Choose the structure and the hardwares of the platform. Establish local communication network between the movement units. Design the program based on coordinate turning control strategy, Run the experiment and get a series of data, Disposal the data in order to make experiment plots, Reserch the plots to get better system parameters.In the end, Need to accomplish the experiment.