Research And The Optimization Of Control On Four Wheel Independent Steering For Underground DTH Rig

To meet the urgent application needs of automation and intelligent mining technology and improve the production safety and mining efficiency in underground metal mine, a national project, named ‘863 National High-tech Research Development plan’, was initiated to tackle of the problem. This research is one part of that project. It refers to develop an Intelligent Four Wheel independent Steering technology for an Intelligent Underground high-pressure DTH Rig.The dissertation conducted a series of theoretical and experimental research on the way of steering because of Steering characteristics of the rig will directly affect the security through and work efficiency in underground stope,The dissertation mainly focuses on discussion of Four Wheel independent Steering technology,and it is divided into four parts.In part one, the most optimal way of steering was mentioned in order to meet the demand of positioning when Underground DTH Rig walking in the underground stope, as well as related the structure,working principle and process,positioning of Underground DTH Rig and mining method and technology, etc.In part two, after studying the demand of positioning of Underground DTH Rig, several common ways of steering was discussed one by one. The mathematical model about kinematics and dynamics when steering was built and then the respective walking characteristics and trajectory were described and analyzed. Finally,the most suitable way of steering—4WIS for Intelligent Underground DTH Rig was adopted.In part three, the movement of 4WIS drilling rig was studied. AS well as related the structure and working principle of 4WIS drilling rig, in light of this, the key of its trajectory is controlling the steering hydraulic cylinder and hydraulic motor, relates to angle change of four wheels. Eventually the fuzzy PID control was adopted through comparison and analysis in order to reduce trajectory error when the rig walking.In the last part, 4WIS control system simulation model was built by MATLAB/SIMULINK tools according to the fuzzy PID control design ideas and requirements to verify the feasibility and effectiveness of the fuzzy PID control for trajectory about Diagonal line shift and spin, it is the two most commonly used steering mode for four wheel independent steering. In addition, the prototype was developed and used to carried out tests for 4WIS as a supplement and then to verify the effect of fuzzy PID control.The dissertation mainly studied the movement of four wheel independent steering and tested by prototype to meet the demand of positioning when Underground DTH Rig walking and based on optimization of moving target. The realization of the technology can guide the steering control of underground mobile equipment and has a certain practicality.