【摘要】：隨著我國煤礦礦井規(guī)模不斷擴大,開采距離持續(xù)增加,大型采煤設備的巷道內運輸逐漸成為制約礦井高產高效的瓶頸。自2009年起,燕山大學趙靜一教授科研團隊與江蘇天明機械集團合作開發(fā)了分體式的采煤設備運輸車,并形成了系列產品,后續(xù)產品在承載能力、安全性、可靠性等方面不斷得到提高�；诂F(xiàn)有技術儲備,深入進行協(xié)調轉向控制理論課題的研究,研究巷道輪式重載液壓動車組,為實現(xiàn)整車單人駕駛和進一步提高運輸效率提供理論支持。該課題得到了國家自然科學基金、河北省自然科學基金、流體動力與機電系統(tǒng)國家重點實驗室開放基金的支持。巷道輪式重載液壓動車組以巷道分體式運輸車為研究基礎,介紹了目前已經(jīng)投入運行的巷道分體式運輸車的主要結構形式、性能指標與各部分的液壓系統(tǒng)。通過AMESIM機構運動仿真與MATLAB的數(shù)據(jù)擬合處理,得到轉向角度與液壓缸位移之間的顯性函數(shù)關系。建立電液轉向控制系統(tǒng)模型,設計PID控制器,采用試湊法確定PID參數(shù),利用SIMULINK進行仿真分析。設計模糊PID控制器,制定各變量隸屬度函數(shù)與模糊控制規(guī)則,利用SIMULINK進行仿真分析。對比不同控制器對于轉向控制系統(tǒng)的控制效果。以EPEC2024控制器的程序掃描周期0.01s為離散時間間隔對基于模糊PID的電液轉向控制系統(tǒng)進行離散化處理,利用SIMULINK進行仿真分析。簡要介紹CAN通訊協(xié)議與CANopen通訊協(xié)議,介紹了常用的CAN總線組網(wǎng)結構,簡要介紹了CODESYS2.1的使用方法。針對轉向控制系統(tǒng)對EPEC2024控制器進行參數(shù)設置,對控制器上的CAN2.0B與CANopen接口進行初始化編程設置。設計角度傳感器數(shù)據(jù)轉化程序模塊、位移傳感器數(shù)據(jù)轉化程序模塊與數(shù)字式分段PID控制器程序模塊。設計模擬實驗平臺,確定其結構形式與硬件組成。通過CAN總線將模擬實驗平臺各運動單元的控制系統(tǒng)建立起局域網(wǎng)通訊。根據(jù)協(xié)調轉向控制策略設計控制器程序,運行試驗,采集實驗數(shù)據(jù)。處理實驗數(shù)據(jù),生成實驗曲線,分析實驗結果,通過優(yōu)化參數(shù)設置,成功完成模擬實驗。
[Abstract]:With the expansion of coal mine scale and the increase of mining distance, the transportation of large coal mining equipment in roadway has gradually become the bottleneck restricting mine production and efficiency. Since 2009, the research team of Professor Zhao Jingyi of Yanshan University and Jiangsu Tianming Machinery Group have developed a separate coal mining equipment transport vehicle, and formed a series of products, the subsequent products in carrying capacity, safety, Reliability and other aspects have been continuously improved. Based on the existing technical reserve, the research on coordinated steering control theory is carried out in depth, and the wheeled heavy duty hydraulic EMU in roadway is studied, which provides theoretical support for the realization of single driving of the whole vehicle and further improvement of transportation efficiency. The project is supported by the National Natural Science Foundation of China, the Natural Science Foundation of Hebei Province, and the Open Foundation of State key Laboratory of fluid Dynamics and Electromechanical Systems. This paper introduces the main structure, performance index and hydraulic system of the roadway separated transport vehicle which has been put into operation at present on the basis of the research on the roadway wheeled heavy load hydraulic EMU. The explicit function relationship between steering angle and displacement of hydraulic cylinder is obtained by simulation of AMESIM mechanism and data fitting of MATLAB. The model of electro-hydraulic steering control system is established, the PID controller is designed, the PID parameters are determined by trial and error method, and the simulation analysis is carried out by SIMULINK. The fuzzy PID controller is designed and the membership function and fuzzy control rules of each variable are worked out. The simulation analysis is carried out by SIMULINK. The control effect of different controllers on steering control system is compared. The electro-hydraulic steering control system based on fuzzy PID is discretized with the program scanning period of EPEC2024 controller at the interval of 0.01s, and the simulation analysis is carried out by SIMULINK. This paper briefly introduces CAN communication protocol and CANopen communication protocol, introduces the common CAN bus network structure, and briefly introduces the usage of CODESYS2.1. The parameters of the EPEC2024 controller are set for the steering control system, and the CAN2.0B and CANopen interfaces on the controller are initialized and programmed. Design angle sensor data conversion program module, displacement sensor data conversion program module and digital subsection PID controller program module. The simulation experiment platform is designed to determine its structure and hardware composition. Local area network (LAN) communication is established by CAN bus for the control system of each motion unit in the simulation experiment platform. According to the coordinated steering control strategy, the controller program is designed, the test is run, and the experimental data are collected. The experimental data are processed, the experimental curves are generated, the experimental results are analyzed, and the simulation experiment is successfully completed by optimizing the parameter setting.
【學位授予單位】：燕山大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TD52

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