Research On The Technology For Coordination Control Of Hydraulic Multi Units Vehicle

For coal mining industry, the material of auxiliary transportation cost account for a large proportion of the total production cost. For tunnel auxiliary transportation, trackless transport has significant effect for cost reduction due to the advantages of high efficiency and flexible, small investment and running expense. Trackless transport has become the development trend of tunnel auxiliary transportation. Therefore, developed the flexible and efficient trackless auxiliary transportation equipment is of great significance.This paper make an intensive study of technology for coordination control combining with the characteristics of roadway environment which based on the technology of the wc80(y) split transport vehicle and with the support of national key laboratory open-end foundation named basic theory research on coal roadway heavy hydraulic wheel multiple unit steering technology. The main research content is as follows:(1) According to the requirements of hydraulic multi units vehicle’s special work and design requirement determine the steering form and design the knuckle mechanic of hydraulic multi units’ vehicle. In order to further improve the safety of the vehicle, we adopt finite element software to establish finite element model of the key components to check its strength.(2) Electro-hydraulic proportional control steering hydraulic system is designed to improve the vehicle steering flexibility and to solve the slow response of steering hydraulic system and low measuring precision of low measuring precision. This paper places great emphasis on the study of static and dynamic state characteristic of the pilot-operated reducing valves in proportional multitoned direction valve of the hydraulic system.(3) According to the characteristics of coal roadway that section size complex and more than one fork. Trajectory tracking control strategy based on head car back is proposed. Vehicle trajectory function of the first car is established through sampling piecewise fitting method. The bike trajectory tracking control scheme is completed, and the tracking control law is designed.(4) The simulation experiment platform and data acquisition system is designed. Do simulations experiment to validate the coordination of walking control strategy. Experimental data is collected and processed by the data acquisition system. The feasibility of coordinated walking control strategy is validated...