The Coordination Steering’s Modeling Analysis And Theoretical Research Of The Roadway Heavy Load And Wheel Type Unit Working By Hydraulic

The Underground Railless Transporter with Rubber Tire is the major transportingequipment of the modernization coal mine, which is responsible for the transportation of largecoal mining equipments, workers, materials and so on. While, with the continuouslyincreasing of mining force, continuously extension of mining depth, continuouslyimproveing of mining mechanization as much as the improvement of the human resources’cost, It becomes the emphasis of the coalmine industrialization upgrading in the future toexploit Underground Transporter which has ample transportation capacity and high speed.Yanshan University has developed WC80Y underground transportation vehicle with JiangsuTianming Mechnical Group. This kind of vehicle is separated type, which has manyadvantages such as super lower platform, flexible steering, Minimum Turning Radius andgood passing ability on complicated road.On this basis, Yanshan University is devoted todevelopment a new type of Underground Railless Transporter named of roadway heavy loadand wheel type unit working by hydraulic. This unit that is drived by one person can realizeonetime transportation,and has super high transport capacity and speed.This paper is made up of five parts.firstly,It introduces the current situation of theUnderground Railless Transporter home and abroad,and the main features of the roadwayheavy load and wheel type unit working by hydraulic. Secondly, It expounds the design ideaof the unit,at the same time, expounds the working principle of the unit on mechanicalstructure and hydraulic system. Thirdly, It describs the designing of the steering linkage thatis designed by mechanism reversal method and optimization method based on MATLAB,Then, compares the advantages and disadvantages of the two methods. Fourthly, It describsthe research of the trajectory tracking strategy of the unit. It is a kind of lag-follow-up controlstrategy including the error elimination in straight way and the trajectory tracking strategy onturning cross. In this research, It sets up the mathematical model of the strategy and tests theunit’s passing ability. Finally, It introduces the experimental platform and tests the feasibilityof the strategy.The achievements can realize onetime transportation and improve the efficiency of thewhole staff. It also provides reference value and guidance significance to the heavy load andwheel type unit working by hydraulic on the aground. Furthermore, It has great theoreticalsignificance and application value to the improvement of modern installation and productionlevels of the homemade camion.