Research On Mechanical Characteristics And Anti-deviation Control Strategy Of Crawler Self-shifting Tail

Crawler self-shifting tail is an important part of belt conveyor,its stable operation is an important guarantee of coal safety excavation,has the advantages of fast dynamic response and high reliability.However,due to the complex underground environment of coal mine,the crawler self-shifting tail is often faced with track pit,climbing and poor conditions of car body inequality,which will cause the whole machine to run off in serious condition.Therefore,it is necessary to study the mechanical characteristics of the crawler self-shifting tail under complex working conditions,and the control method to avoid the self-shifting tail deviation is required.In this thesis,mechanical characteristics and anti-deviation control strategy of crawler self-shifting tail are studied by structural design,modeling and simulation,field experiment and other methods.The main research contents include:(1)According to the driving requirements of the driving face,the overall structure of the crawler self-shifting tail is designed,including the design of the walking system and transfer conveying system,and the calculation and check of the tractive force of the crawler self-shifting tail is completed.The strength analysis of the key structure of the tracked self-shifting tail is completed based on ANSYS.Through the stability check and the inherent modal analysis of the main frame assembly of the crawler walking system,the stability and security of the working process are verified.(2)The nonlinear mathematical model of the walking mechanism was established.Based on MATLAB/Simulink,the simulation model of the crawler self-shifting tail was built.The dynamic characteristics of the crawler self-shifting tail were analyzed,and the deviation rule of the crawler self-shifting tail under the influence of off-load,counterweight and complex working conditions was obtained.(3)The hydraulic model of the load-sensing system and the hydraulic model of the load-sensing proportional multichannel reversing valve are built.The simulation model of the hydraulic system of the crawler self-shifting tail is built using AMESim,and the step response and impact response of the hydraulic system are analyzed,and the deviation rule of the crawler self-shifting tail is obtained.The influence of current,impact force and off-load on motor speed,flow and pressure of hydraulic system is obtained,and the deviation correction method of crawler self-shifting tail is obtained.(4)The PID controller,Fuzzy PID controller and variable domain Fuzzy PID controller models are built based on MATLAB/Simulink,and the tail deviation rule and correction method of crawler self-shifting machine under different working conditions are obtained through joint simulation analysis with AMESim.Based on the experiment of the control system of the tracked self-shifting tail,the Variable Domain Fuzzy PID is realized.The thesis has 128 pictures,22 tables,and 90 references.