CN103600770A - Multi-train coordinated turning control method of split motor train unit - Google Patents
Multi-train coordinated turning control method of split motor train unit Download PDFInfo
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- CN103600770A CN103600770A CN201310585064.8A CN201310585064A CN103600770A CN 103600770 A CN103600770 A CN 103600770A CN 201310585064 A CN201310585064 A CN 201310585064A CN 103600770 A CN103600770 A CN 103600770A
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Abstract
The invention relates to a multi-train coordinated turning control method of a split motor train unit. The method is characterized by including: applying corresponding control algorithms to calculate the turning angle and driving speed required by a powered conveying train set at the moment according to the pose error between the power source train and the powered conveying train set, and obtaining turning control strategies and controller control instructions by building and analyzing electro-hydraulic turning system models so as to control powered conveying trains. The method has the advantages that the split motor train unit can be driven by a single person, labor intensity of workers is lowered, the occupation time of the main channel of a coal mine is reduced, production efficiency is increased, and the problems, caused by the fact that usage licenses of multiple control and sensing elements excellent in performance are difficult to obtain due to special downhole working conditions, of inflexible turning, large turning radius, rolling over, and poor operation stability, and the like are solved.
Description
Technical field
What the invention belongs to special vehicle turns to control technology field, relates to a kind of tunnel trackless Split type hydraulic motor train unit rotating direction control method.
Background technology
Because tunnel is with a varied topography, end face is narrow and space is long and narrow, and motor train unit often need to carry out complicated steering operation.Tunnel trackless Split type hydraulic motor train unit in the present invention, adopt iron chains to flexibly connect between its propulsion source car and power transport trolley group, and power transport trolley group front end arranges telescopic pull bar.By applying suitable control policy, can realize propulsion source car and power transport trolley group and coordinate to turn to, realize propulsion source garage and walk, power transport trolley group is followed propulsion source wheel paths automatically.
Rely at present the split type motor train unit of two chaufeur co-operate, need two chaufeur close fit.The high efficiency of coal mine machinery haulage equipment and rapidity are two and are badly in need of the aspect solving.
Summary of the invention
The object of the invention is the split type motor train unit for two chaufeur co-operate, provide a kind of and be applicable to super narrow, ultralow and long vertical turn to control under the complex environment of tunnel, can realize the hydraulic efficiency power unit car by micro-electric control of single driving of tunnel trackless Split type hydraulic motor train unit and the many cars of split type motor train unit that hydraulic power transport trolley group forms and coordinate rotating direction control method.
The present invention is car load spatial attitude recognition technology and the front and back car independent steering coordination control of realization on this basis based on sensor feedback, can make power transport trolley group advance according to the driving trace of propulsion source car.
Specific implementation step is: first according to the position and attitude error between the propulsion source car of tunnel trackless Split type hydraulic motor train unit and power transport trolley group, apply corresponding control algorithm, calculate now required steering angle and the moving velocity of power transport trolley group, and by setting up and analyze electric liquid steering swivel system model, and then obtain turning to control policy and controller control command, control power transport trolley; While turning to, the chaufeur steering wheel rotation of operator's compartment executable operations, produce electric signal, the controller that control propulsion source car turns to is controlled according to the opening of predefined program and electric signal size comparative example change-over valve, thereby control the steering controller of propulsion source car, and then control its steering hardware, wheels are turned to; Power transport trolley group is carried out pose parsing by steering controller, and its steering hardware of Based Intelligent Control, adjusts its corner and speed, from the turning track of motion tracking propulsion source car, thereby realize turning to of tunnel trackless Split type hydraulic motor train unit, coordinates to control.
In order to realize above-mentioned steps, the rotation direction sensor of propulsion source car is connected with bearing circle, the angular signal of receive direction dish; Each axis of transport trolley is equipped with respectively rotation direction sensor, receives and feed back the angular signal of each wheels.
The present invention has following advantage:
The power transport trolley group of tunnel trackless Split type hydraulic motor train unit can be from the driving trace of motion tracking propulsion source car, thereby realizes the split type motor train unit of single driving, reduces workman's labour intensity, reduces the holding time in coal master navigation channel, enhances productivity.
This car can be realized the multiple pattern that turns to, and split type motor train unit can be realized flexibly, steadily, turn to accurately in narrow space.
By increasing the quantity of single-power transport trolley, form power transport trolley group, can realize and load many or multiple coal mine equipment simultaneously, improved the conveying efficiency of equipment transition.
The coordination of the multisystems such as this car can be realized propulsion source, turns to, hangs, braking, multimachine structure is controlled.
Adopt the multimodal control policy of segmentation.Application flexibility of the present invention connects many power transport trolley reconciling spatial scale pose analysis method, take various control strategy, solved due under the special operation condition of down-hole, many function admirables is controlled and sensitive member be difficult to obtain the usage license causes turn to dumb, Turning radius large, rollover and the problem such as road-holding property is poor.
Accompanying drawing explanation
Fig. 1 is steering control system diagram of circuit;
Fig. 2 is steering position control block diagram;
Fig. 3 is that split type motor train unit turn to pattern diagram;
Fig. 4 is the track following illustraton of model of tracing to the source based on front truck;
Fig. 5 is the track following illustraton of model of tracing to the source based on rear car;
Fig. 6 is split type motor train unit steering control system figure;
Fig. 7 is split type motor train unit schematic diagram.
The specific embodiment
Control flow of the present invention as shown in Figure 1.
Turning on wheels of the propulsion source car of tunnel trackless Split type hydraulic motor train unit and power transport trolley group is provided with sensor, by corresponding steering hardware, accurately controls wheels pivot angle, and its control system block diagram as shown in Figure 2.
In the present invention, tunnel trackless Split type hydraulic motor train unit can be realized the multiple pattern that turns to, and make transport trolley in the situation that working space is narrow and small, realize vehicle body steady, turn to flexibly accurately and single-power transport trolley is longitudinal and transverse travels.The form that turns to that steering swivel system is related comprises: motor train unit integral body turn to requirement craspedodrome, diagonal, walk crosswise, the Eight characters turns to, half Eight characters turns to, each single-power transport trolley independent steering requires in yaw and cast etc. and transport trolley craspedodrome+Eight characters turns to, keeps straight on+half Eight characters turns to, keeps straight on+cast, craspedodrome+yaw etc.As shown in Figure 3.
In the present invention, the track following strategy that the coordination of tunnel trackless Split type hydraulic motor train unit turns to control also can trace to the source based on front truck by application is realized.As shown in Figure 4.The track following strategy that can also trace to the source based on rear car by application is realized.As shown in Figure 5.
The present invention will be described as example to take split type motor train unit below, as shown in Figure 7.
Each transport trolley is installed respectively front multiport valve piece and rear multiport valve piece, and input end quick joint and mouth quick joint are installed on forward and backward multiport valve piece.The mouth quick joint 4 of the front multiport valve piece 3 of the first transport trolley 6 is connected with the input end quick joint 10 of the rear multiport valve piece 9 of the first transport trolley 6 by sebific duct 5; The mouth quick joint 10 of the rear multiport valve piece 9 of the first transport trolley 6 is connected with the input end quick joint 12 of the front multiport valve piece 13 of the second transport trolley 14 by sebific duct 11; Front multiport valve piece 13 mouths of the second transport trolley 14 are connected with the motor on the second transport trolley 14.So far, realized the transmission of the energy in transportation power car group.
Rotation direction sensor is positioned at operator's compartment 1, for accepting the angular signal from bearing circle.Master controller is placed in propulsion source car armored cassette 2, and first is placed in the first transport trolley armored cassette 8 from controller, and the rest may be inferred.The pattern that turns to that propulsion source car adopts front-wheel steering back-wheel drive, is realized and being turned to by corresponding steering hardware.Each single-power transport trolley all adopts the pattern that turns to of corresponding steering hardware, and each axis is all furnished with rotation direction sensor, receives in real time and send the angular signal of each wheels.Between propulsion source car and the first single-power transport trolley, and power transport trolley group between rotating direction control method the same, at this, only with turning between propulsion source car and the first single-power transport trolley, control and describe.
The steering swivel system the present invention relates to is based on multiple control modes.Power transport trolley group is automatically followed propulsion source car when turning to, and realizes turning to and coordinates to control.As shown in Figure 6, chaufeur is by certain angle of rotating of steering wheel for vehicle steering control system, and this angle converts corresponding current signal to by rotation direction sensor, by bus, passes to master controller.Controller is according to the control signal gathering, identification turns to pattern, then according to the angle of car load train steering kinematics model and bearing circle input, parse the expectation corner of each wheels, the up-to-date actual wheels corner gathering by bus acceptance angle displacement pickup again, adopts corresponding control algorithm to solve the controlling quantity output of each steering hardware, and sends corresponding control command to each node, control the size of valve core of the electromagnetic valve opening, thereby control the flow that enters propulsion source car steering cylinder.Controller is processed by internal signal, current signal is converted to corresponding discharge signal, the angle that control turns to, thereby control steering cylinder and drive steering hardware motion, and then drive wheels to rotate, this angle signal can convert by the rotation direction sensor arranging on steering hardware again corresponding current signal to and feed back to controller, itself and the control signal of input are compared, by the deviation signal opening degree of electromagnetic valve for adjusting spool again, thereby regulate the flow that enters hydraulic actuating cylinder, and then regulating rotary to angle, realized signal tracking closed loop control.Propulsion source car turns to, make the attitude between propulsion source car and the first single-power transport trolley that variation occur, between connecting rod and propulsion source car, produced an angle, this angle is changed signal is sent to first from controller by rotation direction sensor, first gives master controller signal feedback again from controlling, by master controller and first, from the communication between controller, by first, from controller, send electric signal to electromagnetic valve, control steering cylinder promotes each steering hardware and drives each wheels to rotate.
Claims (2)
1. the many cars of split type motor train unit are coordinated rotating direction control method, it is characterized in that: first according to the position and attitude error between the propulsion source car of tunnel trackless Split type hydraulic motor train unit and power transport trolley group, apply corresponding control algorithm, calculate now required steering angle and the moving velocity of power transport trolley group, and by setting up and analyze electric liquid steering swivel system model, and then obtain turning to control policy and controller control command, control power transport trolley; While turning to, the chaufeur steering wheel rotation of operator's compartment executable operations, produce electric signal, controlling the steering controller of propulsion source car controls according to the opening of predefined program and electric signal size comparative example change-over valve, thereby control the controller that propulsion source car turns to, and then control its steering hardware, wheels are turned to; Power transport trolley group is carried out pose parsing by steering controller, and its steering hardware of Based Intelligent Control, adjusts its corner and speed, from the turning track of motion tracking propulsion source car, thereby realize turning to of tunnel trackless Split type hydraulic motor train unit, coordinates to control.
2. the many cars of split type motor train unit according to claim 1 are coordinated rotating direction control method, it is characterized in that: the rotation direction sensor of propulsion source car is connected with bearing circle the angular signal of receive direction dish; Each axis of transport trolley is equipped with respectively rotation direction sensor, receives and feed back the angular signal of each wheels.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310585064.8A CN103600770A (en) | 2013-11-20 | 2013-11-20 | Multi-train coordinated turning control method of split motor train unit |
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| CN201310585064.8A CN103600770A (en) | 2013-11-20 | 2013-11-20 | Multi-train coordinated turning control method of split motor train unit |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564447A (en) * | 2014-10-31 | 2016-05-11 | 南车株洲电力机车研究所有限公司 | Control system of virtual rail bus or train |
| CN110789604A (en) * | 2019-10-16 | 2020-02-14 | 合肥搬易通科技发展有限公司 | Motor steering-based double-drive full-forward-movement forklift steering control method and forklift |
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| JP2003212141A (en) * | 2002-01-18 | 2003-07-30 | Hitachi Unisia Automotive Ltd | Power steering system |
| JP2009132275A (en) * | 2007-11-30 | 2009-06-18 | Nippon Yusoki Co Ltd | Hydraulic power steering device with function for correcting steering wheel angle |
| CN101498217A (en) * | 2009-03-05 | 2009-08-05 | 燕山大学 | Split type remote operation ultra-low laneway coal mining apparatus transportation platform |
| JP2010178545A (en) * | 2009-01-30 | 2010-08-12 | Jtekt Corp | Motor control device |
| CN103287491A (en) * | 2013-04-27 | 2013-09-11 | 燕山大学 | Control system for compliance steer of roadway trackless wheeled hydraulic power vehicle group |
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2013
- 2013-11-20 CN CN201310585064.8A patent/CN103600770A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003212141A (en) * | 2002-01-18 | 2003-07-30 | Hitachi Unisia Automotive Ltd | Power steering system |
| JP2009132275A (en) * | 2007-11-30 | 2009-06-18 | Nippon Yusoki Co Ltd | Hydraulic power steering device with function for correcting steering wheel angle |
| JP2010178545A (en) * | 2009-01-30 | 2010-08-12 | Jtekt Corp | Motor control device |
| CN101498217A (en) * | 2009-03-05 | 2009-08-05 | 燕山大学 | Split type remote operation ultra-low laneway coal mining apparatus transportation platform |
| CN103287491A (en) * | 2013-04-27 | 2013-09-11 | 燕山大学 | Control system for compliance steer of roadway trackless wheeled hydraulic power vehicle group |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564447A (en) * | 2014-10-31 | 2016-05-11 | 南车株洲电力机车研究所有限公司 | Control system of virtual rail bus or train |
| CN110789604A (en) * | 2019-10-16 | 2020-02-14 | 合肥搬易通科技发展有限公司 | Motor steering-based double-drive full-forward-movement forklift steering control method and forklift |
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Application publication date: 20140226 |