CN103778844B - Rail-free Split type hydraulic EMUs experiment porch - Google Patents
Rail-free Split type hydraulic EMUs experiment porch Download PDFInfo
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- CN103778844B CN103778844B CN201410027001.5A CN201410027001A CN103778844B CN 103778844 B CN103778844 B CN 103778844B CN 201410027001 A CN201410027001 A CN 201410027001A CN 103778844 B CN103778844 B CN 103778844B
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Abstract
The present invention relates to a kind of rail-free Split type hydraulic EMUs experiment porch, including the car body more than two joints being connected in series, cephalomere car body is referred to as with reference to car, it is connected to be referred to as transport trainset with reference to car aftercarriage, transport trainset is made up of an above car body being connected in series of joint, it is characterized in that: use the EMUs Trajectory Tracking Control strategy of " with reference to car path planning; transport trainset is followed the tracks of with reference to car ", tested by similarity, the form that hydraulic pressure EMUs medium power source car is connected with power transport trainset can be imitated.With reference to car collection, providing signal, transport trainset is followed automatically with reference to wheel paths, thus realizes single driving.Theory gets on the bus group number can infinite expanding.
Description
Technical field
The invention belongs to rail-free EMUs simulation experiment platform technical field, relate to a kind of rail-free Split type hydraulic EMUs real
Test platform.Use electric-control system based on delayed model-following control strategy, i.e. " with reference to car path planning, transport trainset is followed the tracks of with reference to car "
EMUs Trajectory Tracking Control strategy, be mainly used in simulated solution pressure EMUs before and after car flexibly connect Trajectory Tracking Control.
Background technology
In development of auxiliary transport in coal mines, continuous miner is the equipment that fully-mechanized mining working unit tonnage is maximum, also carries the most difficult
Equipment.At present, continuous miner mover special in world wide is only a kind of with crawler belt for walking mechanism, this kind of vehicle
Use and will be greatly improved the removal of home efficiency of coal-winning machine, but owing to its volume and weight is the hugest, have comparison tight in tunnel itself
The requirement of lattice, therefore the adaptability in down-hole there is also bigger difference.Trackless underworkings load-bearing transport vehicle is universal the most both at home and abroad
Car articulation steering pattern before and after employing.Use this pattern, power car traction transport vehicle, trackslip between each walking tire and ground and
Sliding occurrence probability is big, and tire wear is serious, and car load security reliability is poor, system energy consumption is big；Meanwhile, steering mechanism too fat to move and
Steering structure limits, and car load turning radius is big, and steering flexibility is poor, there is potential safety hazard when sharp turn.Therefore adaptation is developed
The high efficiency of underworkings actual condition, low flexible transport car is a current urgent task.
Patent CN101498217A that the applicant has applied for, for split type remote operation ultra-low laneway coal mining apparatus transportation platform.Should
Using iron chains to flexibly connect between patent application power source car and transport vehicle, transport vehicle front end arranges telescopic pull bar, it is achieved that
Power car and transport vehicle independent steering.This pattern simplifies steering mechanism, and tire trackslips and sliding occurrence probability is substantially reduced,
Car load turning radius reduces, and motility strengthens.The ultralow design of transport vehicle, makes the transport of coal excavation apparatus more adapt to tunnel bending
The restriction of small space.But this car also cannot realize Trajectory Tracking Control thus reach the effect of single driving.Rail-free split
Formula EMUs experiment porch, uses between car joint and flexibly connects, use Trajectory Tracking Control strategy, make EMUs achieve single
Drive, it is achieved that the TRAJECTORY CONTROL of whole EMUs, the car joint number theory unlimited of EMUs can be made to extend, it is achieved single driving.
This technology is applied in reality, rail-free hydraulic pressure EMUs can be developed, EMUs can be made to have ultralow shipping platform, spirit
Work turns to, radius of turn is little, transport power is sufficient and has the good road surface property passed through.This experiment porch can be this split type distant behaviour
The realization of the single driving making ultra-low laneway coal mining apparatus transportation platform provides strong technical guarantee and safety guarantee.
Summary of the invention
It is an object of the invention to provide a kind of rail-free Split type hydraulic EMUs experiment porch.This rail-free Split type hydraulic motor-car
Group experiment porch (hereinafter referred to as EMUs) employing electric-control system based on delayed model-following control strategy, i.e. " with reference to car path planning,
Transport trainset is followed the tracks of with reference to car " EMUs Trajectory Tracking Control strategy, before and after being mainly used in simulated solution pressure EMUs, car flexibly connects
Trajectory Tracking Control.
Technical scheme is as follows:
These EMUs include the car body that more than two joints are connected in series, and cephalomere car body is referred to as, with reference to car, being connected to claim with reference to car aftercarriage
For transport trainset, transport trainset is made up of an above car body being connected in series of joint, as it is shown in figure 1, figure 1 be reference car, and 2
For transport trainset.Before and after car load, car independent steering is coordinated to control to feed back based on rotation direction sensor and signals of rotational speed sensor, uses
PLC realizes.(PLC in these EMUs uses EPEC controller.)
Car body is mainly grouped into by mechanical part and electrical control division.Before and after EMUs, two joint car bodies are connected by connecting rod, this connecting rod
Do not play draw, be equipped with, at the two ends of connecting rod, the angular signal that non-contact angle sensor is monitored in real time and sent connecting rod,
Connecting rod also can make two cars keep certain distance simultaneously, makes coordination between car body.Drive and knuckle section mechanism as in figure 2 it is shown,
In figure, 1 for turning to quadric chain, and 2 is linear electric motors, and 3 for driving motor, and 4 is angular transducer, and drive part uses and drives
Dynamic driven by motor wheel rotates, and each wheel is equipped with small-sized driving motor, and this motor one side shaft gos deep into wheel and drives wheel to rotate,
Opposite side consolidates with steering mechanism, turns to employing linear electric motors to drive quadric chain to realize, equipped with angle sensor at steering mechanism
Device is to monitor steering angle in real time.Angular transducer mounting means is as shown in Figure 3 at connecting rod and at steering mechanism.These EMUs institute
Selecting sensor is non-contact angle sensor, is made up of Magnet and sensing part two parts, and magnet segment is fixedly arranged at rotatable parts
Rotating therewith, sensing part is arranged on vehicle frame with the change in induced field direction.It is equipped with one in the middle of each wheel to turn
Speed sensor is to monitor each vehicle wheel rotational speed in real time.EMUs control part also comprises some other critical elements, as shown in Figure 1.
It is equipped with EPEC controller on every internode car body, is wherein master controller with reference to the controller on car car, the control in each transport vehicle
Device processed is that the control signal on controller, each car body crosses CAN implementation communication.Main controller controls EMUs turn to mould
Formula, the controller on each joint car body respectively each angular transducer of its place car body and the signal of speed probe are acquired and
Processing, fit to movement locus function and the data of correspondence, pass to master controller by CAN, master controller passes through CAN
Movement locus function and data with reference to car are swapped by bus with each controller of transport trainset, and each controller of transport trainset will connect
The data received compare, really with angular transducer each in this section transport vehicle and the angle data of speed probe and rate signal
Before and after Ding, whether car reaches linkage status, the most then control EP (end of program), and the linear electric motors controlling to turn to are failure to actuate；If it has not,
Controller then output switch amount controls transport vehicle linear electric motors stroke and realizes the Trajectory Tracking Control to transport trainset；Master controller
Determine position relationship between each car body by receiving the connecting rod deviation angle of connecting rod upper angle sensor detection, and then send signal and repair
The speed of the most each car body and steering angle, meanwhile, connecting rod makes to maintain a certain distance between car body, it is ensured that coordination between car body.
The present invention turns to the course changing control flow process of employing as shown in Figure 4.
These EMUs are attainable turn to pattern include a. EMUs entirety turn to the craspedodrome of requirement, diagonal, eight words to turn to, half eight
Word turns to, yaw and cast；B. craspedodrome+eight word that EMUs each car joint independent steering requires turns to, keeps straight on+half eight
Word turns to, keeps straight on+cast, craspedodrome+yaw.Such as Fig. 5.
The invention have the advantage that
1. have employed based on delayed model-following control strategy, it is achieved that the Trajectory Tracking Control of whole EMUs, and transport vehicle in theory
The car joint number of group can infinite expanding.If accumulator energy deficiency can increase accumulator in transport trainset in the case of the extension of car joint number,
As shown in Figure 6.
2. each wheel in EMUs experiment porch is assembled with motor, during each car joint is turned, by advance
First algorithm calculates the rotating speed of interior outboard wheels and then controls each motor speed, and the differential that must take in Practical Project can be avoided to ask
Topic.
3. what each wheel in EMUs experiment porch had oneself turns to linear electric motors, makes each car save during turning to
The vertical line of each interior outside tire intersects at same turning center.
The energy of the most whole EMUs experiment porch is provided by accumulator, and accumulator can be placed on reference to being positioned over back on car
Transport trainset in a certain joint car on, both can do energy source device also can fictitious load.
5. have and multiple turn to pattern.What steering related to turns to form to include: a. EMUs entirety turn to requirement craspedodrome,
Diagonal, eight words turn to, half eight words turn to, yaw and cast etc.；B. EMUs each transport vehicle independent steering requires
+ eight words of keeping straight on turn to, keep straight on+and half eight words turn to, keep straight on+cast, craspedodrome+yaw etc..
6. achieve can one man operation trackless drive.
7., according to similarity Condition, converted by parameter coupling and mathematical model, the control program portable of EMUs is moved to hydraulic pressure
In car group, hydraulic pressure EMUs medium power source car movement locus reverse pusher is gone out power transport EMUs track mathematical model, finds out
The relation of car steering cylinder stroke front and back, and then obtain the parameters relationship that before and after's car controls to turn to.Adjust parameters relationship,
Realize hydraulic pressure EMUs turn to coordination control.
Accompanying drawing explanation
Fig. 1 is the EMUs experiment porch structural representation of the present invention；
Fig. 2 is steering driving mechanism schematic diagram；
Fig. 3 is sensor scheme of installation；
Fig. 4 is course changing control flow chart；
Fig. 5 is that the present invention is attainable various turns to pattern diagram；
Fig. 6 is car load power configuration schematic diagram；
Fig. 7 is the servo system control illustraton of model of drive stepping motor；
Fig. 8 is the electric control theory figure of the present invention.
In Fig. 1: 1 is that 2 is transport trainset, and 3 is drive stepping motor, and 4 is linear electric motors, and 5 is steering link with reference to car
Mechanism, 6 is driver, and 7 is little manostat, and 8 is relay, and 9 is pulse generator, and 10 is accumulator, and 11 is main control
Device, 12 is big manostat, and 13 is angular transducer, and 14 is from controller.In Fig. 2: 1 for turning to quadric chain, 2 are
Linear electric motors, 3 for driving motor, and 4 is angular transducer.In Fig. 3: 1 is angular transducer sensing part, 2 pass for angle
Sensor magnet segment.
Detailed description of the invention
These EMUs experiment porch provides a kind of electric-control system based on delayed model-following control strategy.Main by mechanical part and electricity
Gas control part forms.These EMUs are saved above vehicle body in series by two and form, and are respectively with reference to car and transport trainset, such as Fig. 1 institute
Showing, 1 is that 2 is transport trainset with reference to car.Front and back coupling with connecting rod between two joint car bodies, connecting rod does not play draw, at car body
Between when having relative rotation, two truck position relations can be determined by angular transducer detection connecting rod deviation angle and then control car body
Speed and steering angle, meanwhile, connecting rod can also make to maintain a certain distance between car body, it is ensured that coordination between car body.Whole
The structural representation of individual laboratory table is as it is shown in figure 1,3 be drive stepping motor in figure, and 4 is linear electric motors, and 5 is steering linkage,
6 is driver, and 7 is little manostat, and 8 is relay, and 9 is pulse generator, and 10 is accumulator, and 11 is master controller, 12
For big manostat, 13 is angular transducer, and 14 is from controller.The biggest manostat is connected to accumulator and exports for limiting electric power storage
Pond output voltage is to protect electric elements, and little manostat drives in order to protect in order to limiting driver input voltage before being connected to driver
Dynamic device and driving motor.
When turning to, laboratory technician operate handle produce the signal of telecommunication, with reference to car from controller press pre-set program to control reference car
The stroke of the linear electric motors turned to is controlled, and then drives steering mechanism's action, finally makes to turn to reference to car；Transport trainset
Each sensor receives and sends the signal combination automated steering often saving car from controller control realization transport trainset and track following,
The coordination being achieved in whole EMUs turns to.Each linear electric motors are all by a double leval jib wheel steering mechanism and corresponding wheel
Driving motor connect, the overhang of linear electric motors by controller send signal control.It is provided with angle sensor at each steering mechanism
Device, real-time reception and each angular signal taken turns of transmission.The umber of pulse that controller controls impulse sender transmitting by output port is entered
And realize the control to driving wheel stepper motor speed, realized driving by the feedback of drive stepping motor end speed probe
Wheel two-freedom movement velocity realizes closed loop control.Concrete implementation model is as shown in Figure 7.During craspedodrome, each wheel speed is equal；
Can be calculated interior outer wheel speeds relation by parameter during turning, its rotating speed can be regulated by controller, it is possible to resolve EMUs are turned
Time differential problem.
All vehicle body frame mechanisms and all being the same size in EMUs, combine respective sensor by EPEC director demon, can
To realize following and controlling of the geometric center track of each car in EMUs.Fig. 8 show car body automatic orbit tracing control electricity
Control schematic diagram.
It is as follows that car body automatic orbit tracking control system function implements process:
Controller above the most each car body is each responsible for collection and the process of respective sensor signal and counts with reference between car and transport vehicle
According to exchange and communication.
2. combine the rate signal of speed probe feedback with reference to the master controller acquisition angles sensing data on car, it is right to fit to
The movement locus function answered and data, swapped with transport vehicle controller by CAN, and transport vehicle receives from controller
After the motion trace data of car, the data in conjunction with self-sensor device feedback realize the driving to transport vehicle and course changing control,
Reach with the orbiting motion similar with reference to car.
3. controller is realized driving wheel motor speed controlling by PWM output port, by drive stepping motor end rotating speed
The feedback of sensor realizes driving wheel two-freedom movement velocity is realized closed loop control.
Claims (1)
1. a rail-free Split type hydraulic EMUs experiment porch, is characterized in that: include the car body that more than two joints are connected in series,
Cephalomere car body is referred to as, with reference to car, being connected to be referred to as transport trainset with reference to car aftercarriage, and transport trainset is by an above company of series connection of joint
The car body composition connect, before and after car load, car independent steering is coordinated to control, anti-based on rotation direction sensor and signals of rotational speed sensor
Presenting, use PLC to realize, with reference to car collection, provide signal, transport trainset follows reference wheel paths automatically, from
And realize single driving；What these EMUs can be simulated turns to pattern to include: 1. EMUs entirety turns to the craspedodrome, tiltedly of requirement
Row, eight words turn to, half eight words turn to, yaw and cast；What 2. EMUs each car joint independent steering required is straight
Row+eight words turn to, keep straight on+and half eight words turn to, keep straight on+cast, craspedodrome+yaw；The experiment of these EMUs is flat
Platform proposes a kind of electric-control system based on delayed model-following control strategy, is provided with one corresponding to each wheel on car body
Linear electric motors, each linear electric motors are all connected with the driving motor of corresponding wheel by a double leval jib wheel steering mechanism,
The overhang of linear electric motors is sent signal by controller and controls, and every internode car body is equipped with EPEC controller, wherein reference
Controller on car is master controller, and the controller in each transport vehicle is that the control signal on controller, each car body crosses CAN
Bus carries out communication；Main controller controls EMUs turn to pattern, the controller on each joint car body is respectively to its place car
Each angular transducer of body and the signal of speed probe are acquired and process, and master controller is by receiving connecting rod upper angle
The connecting rod deviation angle of sensor detection determines position relationship between each car body, and then sends the speed of each car body of signal correction
And steering angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410027001.5A CN103778844B (en) | 2014-01-21 | 2014-01-21 | Rail-free Split type hydraulic EMUs experiment porch |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410027001.5A CN103778844B (en) | 2014-01-21 | 2014-01-21 | Rail-free Split type hydraulic EMUs experiment porch |
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| CN103778844A CN103778844A (en) | 2014-05-07 |
| CN103778844B true CN103778844B (en) | 2016-10-12 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN105629968B (en) * | 2014-10-31 | 2019-02-15 | 南车株洲电力机车研究所有限公司 | A kind of self- steering control method of trackless self- steering truck combination |
| CN105808798B (en) * | 2014-12-30 | 2020-02-14 | 南车株洲电力机车研究所有限公司 | Cooperative simulation system of trackless self-guiding automobile train |
| 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 |
| CN106004478B (en) * | 2016-05-24 | 2018-01-26 | 西北师范大学 | A kind of towed electric flatbed tricycle that can be followed automatically |
| 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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| CN103217978A (en) * | 2013-03-28 | 2013-07-24 | 燕山大学 | Control method for implementing coordinated operation of multiple vehicle groups of hydraulic heavy duty truck |
| CN103223960A (en) * | 2013-03-28 | 2013-07-31 | 燕山大学 | Straight travelling coordination and steering control method for roadway trackless type hydraulic truck |
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- 2014-01-21 CN CN201410027001.5A patent/CN103778844B/en not_active Expired - Fee Related
Patent Citations (7)
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|---|---|---|---|---|
| JPH1035527A (en) * | 1996-07-19 | 1998-02-10 | Kajima Corp | Steering controller for automatic carrier vehicle having a plurality of connected vehicles |
| CN201158334Y (en) * | 2007-12-25 | 2008-12-03 | 比亚迪股份有限公司 | Follow-up steering system of car lamp |
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