CN103778844A - Non-track split-type hydraulic motor train unit experimental platform and a steering control system thereof - Google Patents
Non-track split-type hydraulic motor train unit experimental platform and a steering control system thereof Download PDFInfo
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- CN103778844A CN103778844A CN201410027001.5A CN201410027001A CN103778844A CN 103778844 A CN103778844 A CN 103778844A CN 201410027001 A CN201410027001 A CN 201410027001A CN 103778844 A CN103778844 A CN 103778844A
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Abstract
The invention relates to a non-track split-type hydraulic motor train unit experimental platform and a steering control system of the non-track split-type hydraulic motor train unit experimental platform. The non-track split-type hydraulic motor train unit experimental platform comprises two or more train bodies which are connected in series, the train body in the first section is called a reference train, the train bodies connected behind the reference train are called a transportation train set, and the transportation train set is composed of one or more train bodies connected in series. The non-track split-type hydraulic motor train unit experimental platform is characterized in that the motor train unit track following control strategy that the reference train plans a path and the transportation train set follows the reference train is adopted and through an similitude experiment, the mode that a power source train in the hydraulic motor train unit is connected with a power transportation train set in series can be simulated. Signals are collected and provided by the reference train, the transportation train set automatically follows the track of the reference train, and therefore single-person driving can be achieved. Theoretically, the number of the train sets can be limitlessly expanded.
Description
Technical field
The invention belongs to rail-free motor train unit simulation experiment platform technical field, relate to a kind of rail-free Split type hydraulic motor train unit experiment porch and steering control system thereof.Adopt the electric-control system of following control strategy based on hysteresis, i.e. the motor train unit Trajectory Tracking Control strategy of " with reference to car path planning, transport vehicle group is followed the tracks of with reference to car ", is mainly used in simulated solution and presses motor train unit front and back car to flexibly connect Trajectory Tracking Control.
Background technology
In development of auxiliary transport in coal mines, continuous miner is the equipment of fully-mechanized mining working unit tonnage maximum, is also to carry the most difficult equipment.At present, continuous miner carrier special in world wide is only take crawler belt as travel mechanism one, the use of this class vehicle will improve the removal of home efficiency of coalcutter greatly, but because its volume and weight is too huge, there is to stricter requirement in tunnel itself, therefore also has larger difference in the adaptability of down-hole.Trackless underworkings load-bearing transport vehicle generally adopts front and back car articulation steering pattern both at home and abroad at present.Adopt this pattern, power car traction transport vehicle, respectively walk between tire and ground, trackslip and slippage occurrence probability large, tire wear is serious, car load safe reliability is poor, system energy consumption is large; Meanwhile, steering mechanism is too fat to move to be limited with steering structure, and car load turning radius is large, and steering flexibility is poor, has potential safety hazard in the time of sharp turn.Therefore develop the high-level efficiency that adapts to underworkings actual condition, low trackless transport vehicle is a current urgent task.
The patent CN101498217A that the applicant has applied for is split type remote operation ultra-low laneway coal mining apparatus transportation platform.Between this patented claim power source car and transport vehicle, adopt iron chains to flexibly connect, transport vehicle front end arranges telescopic pull bar, has realized power car and transport vehicle independent steering.This pattern has been simplified steering mechanism, and tire trackslips and slippage occurrence probability reduces greatly, and car load turning radius reduces, and dirigibility strengthens.The ultralow design of transport vehicle, makes the transportation of coal excavation apparatus more adapt to the restriction of the bending small space in tunnel.Thereby but this car also cannot be realized Trajectory Tracking Control and reach the effect of single driving.The split type motor train unit experiment porch of rail-free, adopts and flexibly connects between car joint, uses Trajectory Tracking Control strategy, make motor train unit realize single driving, realize the TRAJECTORY CONTROL of whole motor train unit, can make the car joint number theory unlimited expansion of motor train unit, realized single driving.This technology is applied in reality, can develops rail-free hydraulic pressure motor train unit, can make motor train unit there is ultralow shipping platform, turn to flexibly, radius of turn is little, transport power is sufficient and have good road surface trafficability characteristic.This experiment porch can provide strong technical guarantee and safety guarantee for the realization of the single driving of this split type remote operation ultra-low laneway coal mining apparatus transportation platform.
Summary of the invention
The object of this invention is to provide a kind of rail-free Split type hydraulic motor train unit experiment porch and steering control system thereof.This rail-free Split type hydraulic motor train unit experiment porch (hereinafter to be referred as motor train unit) adopts the electric-control system of following control strategy based on hysteresis, the i.e. motor train unit Trajectory Tracking Control strategy of " with reference to car path planning; transport vehicle group is followed the tracks of with reference to car ", is mainly used in simulated solution and presses motor train unit front and back car to flexibly connect Trajectory Tracking Control.
Technical scheme of the present invention is as follows:
This motor train unit comprises the car body that two joints are connected in series above, and cephalomere car body is called with reference to car, is connected to reference to car aftercarriage and is called transport vehicle group, and the car body that transport vehicle group is connected in series above by a joint forms, and as shown in Figure 1, in figure, 1 is with reference to car, and 2 is transport vehicle group.The front and back car independent steering of car load is coordinated to control based on rotation direction sensor and signals of rotational speed sensor feedback, adopts PLC controller to realize.(what PLC controller in this motor train unit adopted is EPEC controller.）
Car body is mainly grouped into by mechanical part and electrical control division.Before and after motor train unit, two joint car bodies connect by connecting rod, this connecting rod does not play draw, the angular signal that non-contact angle sensor Real-Time Monitoring and transmission connecting rod are all housed at the two ends of connecting rod, connecting rod also can make two cars keep certain distances simultaneously, makes coordination between car body.Driving and knuckle section mechanism are as shown in Figure 2, in figure, 1 for turning to four-bar mechanism, 2 is linear electric motors, and 3 is drive motor, and 4 is angular transducer, drive part adopts drive motor to drive rotation of wheel, each wheel is equipped with small-sized drive motor, and this motor one side shaft gos deep into wheel and drives rotation of wheel, and opposite side and steering mechanism are fixed, turn to and adopt linear electric motors to drive four-bar mechanism to realize, angular transducer is equipped with Real-Time Monitoring steering angle in place of steering mechanism.Connecting rod place and steering mechanism's place's angular transducer mounting means are as shown in Figure 3.The selected sensor of this motor train unit is non-contact angle sensor, is made up of magnet and sensing part two parts, and magnet segment is cemented in rotatable parts and rotates together thereupon, and sensing part is arranged on the variation with induced field direction on vehicle frame.In the middle of each wheel, a speed probe is housed with the each vehicle wheel rotational speed of Real-Time Monitoring.Motor train unit control section also comprises some other critical elements, as shown in Figure 1.On every internode car body, being equipped with EPEC controller, is wherein master controller with reference to the controller on car car, and the controller on each transport vehicle is from controller, and the control signal on each car body is crossed CAN bus and carried out communication.Main controller controls motor train unit turn to pattern, controller on the each joint car body respectively signal of the each angular transducer to its place car body and speed probe carries out acquisition and processing, fit to corresponding movement locus function and data, pass to master controller by CAN bus, master controller exchanges with the each controller of transport vehicle group with reference to movement locus function and the data of car by CAN bus, the each controller of transport vehicle group compares the data that receive with corner data and the rate signal of each angular transducer and speed probe on this section transport vehicle, before and after determining, whether car reaches linkage status, if, control program finishes, the linear electric motors that control turns to are failure to actuate, if NO, controller output switch amount control transport vehicle linear electric motors stroke realize the Trajectory Tracking Control to transport vehicle group, master controller is determined position relationship between each car body by the connecting rod deviation angle that receives the detection of connecting rod upper angle sensor, and then send speed and the steering angle of the each car body of signal correction, meanwhile, connecting rod makes to maintain a certain distance between car body, guarantees coordination between car body.What in the present invention, turn to employing turns to control flow as shown in Figure 4.
This motor train unit is attainable turns to that pattern comprises that a. motor train unit entirety turns to craspedodrome, diagonal, the Eight characters of requirement to turn to, half Eight characters turns to, yaw and cast; B. craspedodrome+Eight characters that the each car of motor train unit joint independent steering requires turns to, keeps straight on+and half Eight characters turns to, keeps straight on+cast, craspedodrome+yaw.As Fig. 5.
Advantage of the present invention is:
1. adopted based on hysteresis and followed control strategy, realized the Trajectory Tracking Control of whole motor train unit, and the car joint number of transport vehicle group can infinite expanding in theory.If in the situation of car joint number expansion, accumulator energy deficiency can increase accumulator in transport vehicle group, as shown in Figure 6.
2. the each wheel in motor train unit experiment porch has been installed stepper motor, in the process of turning at each car joint, is calculated the rotating speed of interior outboard wheels and then is controlled each motor speed by algorithm in advance, can avoid the differential problem that must consider in Practical Project.
3. the each wheel in motor train unit experiment porch has the linear electric motors that turn to of oneself, makes each car joint vertical line of each interior outside tire in the process turning to intersect at same turning center.
4. the energy of whole motor train unit experiment porch is provided by accumulator, and accumulator can be placed on reference on a certain joint car that also can be positioned on car in the transport vehicle group of back, and both can do energy source device also can fictitious load.
5. there is the multiple pattern that turns to.What steering related to turns to form to comprise: a. motor train unit entirety turns to craspedodrome, diagonal, the Eight characters of requirement to turn to, half Eight characters turns to, yaw and cast etc.; B. craspedodrome+Eight characters that the each transport vehicle independent steering of motor train unit requires turns to, keeps straight on+and half Eight characters turns to, keeps straight on+cast, craspedodrome+yaw etc.
6. realized can one man operation trackless drive.
7. according to similarity Condition, convert by parameter matching and mathematical model, the control program of motor train unit is transplanted in hydraulic pressure motor train unit, hydraulic pressure motor train unit medium power source car movement locus reverse pusher is gone out to power transportation motor train unit track mathematical model, the relation of car steering cylinder stroke before and after finding out, and then the parameters relationship that before and after obtaining, car control turns to.Adjust parameters relationship, can realize in hydraulic pressure motor train unit and turn to and coordinate to control.
Accompanying drawing explanation
Fig. 1 is motor train unit experiment porch structural representation of the present invention;
Fig. 2 is steering driving mechanism schematic diagram;
Fig. 3 is installation of sensors schematic diagram;
Fig. 4 is for turning to control flow chart;
Fig. 5 is the attainable various pattern diagram that turn to of the present invention;
Fig. 6 is car load power configuration schematic diagram;
Fig. 7 is the servo system control illustraton of model of Driving Stepping Motor;
Fig. 8 is electric control theory figure of the present invention.
In Fig. 1: 1 is with reference to car, 2 is transport vehicle group, and 3 is Driving Stepping Motor, 4 is linear electric motors, and 5 is steering linkage, and 6 is driver, 7 is little voltage stabilizer, 8 is relay, and 9 is pulse producer, and 10 is accumulator, 11 is master controller, 12 is large voltage stabilizer, and 13 is angular transducer, and 14 is from controller.In Fig. 2: 1 for turning to four-bar mechanism, 2 is linear electric motors, and 3 is drive motor, and 4 is angular transducer.In Fig. 3: 1 is angular transducer sensing part, and 2 is angular transducer magnet segment.
Embodiment
This motor train unit experiment porch provides a kind of electric-control system of following control strategy based on hysteresis.Mainly be grouped into by mechanical part and electrical control division.This motor train unit is composed in series with upper body by two joints, is respectively with reference to car and transport vehicle group, and as shown in Figure 1,1 is with reference to car, and 2 is transport vehicle group.Between the two joint car bodies of front and back, connect with connecting rod, connecting rod does not play draw, have relative rotation between car body time, can detect speed and the steering angle that connecting rod deviation angle is determined two truck position relations and then controlled car body by angular transducer, simultaneously, connecting rod can also make to maintain a certain distance between car body, guarantees coordination between car body.As shown in Figure 1, in figure, 3 is Driving Stepping Motor in the structural representation of whole experiment table, and 4 is linear electric motors, 5 is steering linkage, 6 is driver, and 7 is little voltage stabilizer, and 8 is relay, 9 is pulse producer, 10 is accumulator, and 11 is master controller, and 12 is large voltage stabilizer, 13 is angular transducer, and 14 is from controller.Wherein large voltage stabilizer is connected to accumulator and exports for limiting accumulator output voltage with protective device element, and little voltage stabilizer is connected to before driver in order to limit driver input voltage in order to protect driver and drive motor.
While turning to, laboratory technician's operating grip produces electric signal, with reference to the stroke of controlling the linear electric motors that turn to reference to car being controlled by pre-set program from controller of car, and then drives steering mechanism's action, finally makes to turn to reference to car; The each sensor of transport vehicle group receives and transmitted signal turns to and track following in conjunction with the intelligence that realizes every joint car of transport vehicle group from controller control, and the coordination that realizes thus whole motor train unit turns to.Each linear electric motors are all connected with the drive motor of corresponding wheel by four connecting rod wheel steering mechanisms, and the overhang of linear electric motors is by the control of controller transmitted signal.Place of each steering mechanism is all furnished with angular transducer, receives in real time and send each angular signal of taking turns.Controller, by umber of pulse and then the control of realization to driving wheel stepper motor speed of the transmitting of output port gating pulse transmitter, is realized driving wheel two-freedom movement velocity is realized to closed-loop control by the feedback of Driving Stepping Motor end speed probe.Concrete implementation model as shown in Figure 7.When craspedodrome, each wheel speed equates; When turning, can obtain inside and outside wheel speed relation by calculation of parameter, can regulate its rotating speed by controller, the differential problem can solve motor train unit turning time.
In motor train unit, all vehicle body frame mechanisms and size are all identical, in conjunction with respective sensor, can realize the following and controlling of geometric center track of each car in motor train unit by EPEC director demon.Figure 8 shows that car body automatic orbit tracking control electric control schematic diagram.
Car body automatic orbit tracking control system function specific implementation process is as follows:
1. the controller above each car body is responsible for respectively the sampling and processing of sensor signal separately and with reference to exchange and the communication of data between car and transport vehicle.
2. the rate signal in conjunction with speed probe feedback with reference to the master controller acquisition angles sensing data on car, fit to corresponding movement locus function and data, exchange with transport vehicle controller by CAN bus, transport vehicle is from controller receives the motion trace data with reference to car, data in conjunction with self-sensor device feedback realize the driving to transport vehicle and turn to control, reach same with reference to the similar orbiting motion of car.
3. controller is realized the control of driving wheel motor speed by PWM output port, is realized driving wheel two-freedom movement velocity is realized to closed-loop control by the feedback of Driving Stepping Motor end speed probe.
Claims (5)
1. a rail-free Split type hydraulic motor train unit experiment porch, it is characterized in that: comprise the car body that two joints are connected in series above, cephalomere car body is called with reference to car, be connected to reference to car aftercarriage and be called transport vehicle group, the car body that transport vehicle group is connected in series above by a joint forms, the front and back car independent steering of car load is coordinated to control based on rotation direction sensor and signals of rotational speed sensor feedback, adopts PLC controller to realize.
2. rail-free Split type hydraulic motor train unit experiment porch according to claim 1, it is characterized in that: on car body, corresponding to each wheel, linear electric motors are installed, each linear electric motors are all connected with the drive motor of corresponding wheel by four connecting rod wheel steering mechanisms, and the overhang of linear electric motors is by the control of controller transmitted signal.
3. the steering control system of a rail-free Split type hydraulic motor train unit experiment porch according to claim 1 and 2, it is characterized in that: on every internode car body, be equipped with EPEC controller, be wherein master controller with reference to the controller on car car, controller on each transport vehicle is from controller, and the control signal on each car body is crossed CAN bus and carried out communication.On the every internode car body of main controller controls motor-car, being equipped with EPEC controller, is wherein master controller with reference to the controller on car car, and the controller on each transport vehicle is from controller, and the control signal on each car body is crossed CAN bus and carried out communication.Main controller controls motor train unit turn to pattern, controller on the each joint car body respectively signal of the each angular transducer to its place car body and speed probe carries out acquisition and processing, fit to corresponding movement locus function and data, pass to master controller by CAN bus, master controller exchanges with the each controller of transport vehicle group with reference to movement locus function and the data of car by CAN bus, the each controller of transport vehicle group compares the data that receive with corner data and the rate signal of each angular transducer and speed probe on this section transport vehicle, before and after determining, whether car reaches linkage status, if, control program finishes, the linear electric motors that control turns to are failure to actuate, if NO, controller output switch amount control transport vehicle linear electric motors stroke realize the Trajectory Tracking Control to transport vehicle group, master controller is determined position relationship between each car body by the connecting rod deviation angle that receives the detection of connecting rod upper angle sensor, and then sends speed and the steering angle of the each car body of signal correction.
4. the steering control system of rail-free Split type hydraulic motor train unit experiment porch according to claim 3, it is characterized in that: on the axis of each wheel of car body, Driving Stepping Motor is installed, signals to impulse sender and then control the rotating speed of drive motor by controller.
5. the steering control system of rail-free Split type hydraulic motor train unit experiment porch according to claim 3, is characterized in that: between two cars, connecting rod two ends are furnished with respectively angular transducer, the angular signal of Real-Time Monitoring and transmission connecting rod; Place of each steering mechanism is all furnished with angular transducer, receives in real time and send each angular signal of taking turns; Each wheel is all furnished with speed probe and receives in real time and send each tach signal of taking turns.
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| CN201410027001.5A CN103778844B (en) | 2014-01-21 | 2014-01-21 | Rail-free Split type hydraulic EMUs experiment porch |
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| CN201410027001.5A CN103778844B (en) | 2014-01-21 | 2014-01-21 | Rail-free Split type hydraulic EMUs experiment porch |
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Cited By (6)
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| CN105006184A (en) * | 2015-06-03 | 2015-10-28 | 燕山大学 | Turning control strategy for trackless split type hydraulic motor car unit experiment platform |
| 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 |
| CN105629968A (en) * | 2014-10-31 | 2016-06-01 | 南车株洲电力机车研究所有限公司 | Self-guiding control method for no-rail self-guiding combination vehicle |
| CN105808798A (en) * | 2014-12-30 | 2016-07-27 | 南车株洲电力机车研究所有限公司 | Co-simulation system of trackless automatic-guiding combination vehicle |
| CN106004478A (en) * | 2016-05-24 | 2016-10-12 | 西北师范大学 | Traction-type electric platform trolley capable of automatic following |
| CN108357516A (en) * | 2018-04-18 | 2018-08-03 | 盐城工业职业技术学院 | A kind of virtual rail Fleeting control system |
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| CN108357516A (en) * | 2018-04-18 | 2018-08-03 | 盐城工业职业技术学院 | A kind of virtual rail Fleeting control system |
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