Research Of New Flexible Connected Split Vehicle Design And Control System

WC80(Y)underground transportation vehicle which developed by YanshanUniversity in cooperation with Jiangsu Tianming Mechnical Group is the world firsthigh-speed wheeled equipment specific for carrying successive coal-mining machine。Thebig invitation of this specific equipment greatly improve the extraction efficiency and hasbrought a revolution to the assist transportation of the coal mine，but there are still manyinconveniences need to be upgraded，the operation is still too complicated even twopeople can hardly control，and carrying capacity is really less for a single move。So it willbe a great benefit to create a promoted one man-controlled product with more loadingmodules according to the invited machine and the characteristics of the coal mineenvironment，not only increase the efficiency multily，but also cost less in design。In thisthesis，a one man can control new vehicle with more loading modules was designed，anda complete control strategy was announced and proved。First，according to the motion characteristic of multiple module vehicle and theenvironment in coal mine，the overall structure and the hydraulic system of the newproduct was designed on the base of invited machine。The modules of the new machinewere flexible connected with each other offering a better performance in moving andturning which is very needed。Because the underground environment is really cramped，function of anti-collisionand obstacle avoidance is necessary for the new machine。This function is accomplishedby track design of anti-collision and obstacle avoidance and a track fellow method in thethesis，the method is proved useful on MATLAB platform in the rest of the chapter。Next，a simple and good-performing coordinated method of controlling the multimodules was put forward in the thesis，according to the new vehicle’s structure and theregulation of the machine。This method was verified by an imitation，a analysis of trackerror was made and a regulation method of track error was also put forward by the thesisaccording to the motion。Finally，the thesis made an exploration on the control system of the new machine， all the necessary unit was selected，and a basic control software was designed on theimitation system。...