摘要
综掘巷道工况条件复杂且具有封闭边界的特殊性。针对煤巷底板滑转率影响履带支护车航向角纠偏问题,提出一种受限巷道空间内栅格化场景的履带支护车自主导航方法。采用栅格化理论将综掘巷道作业环境进行局域划分,提出航向参考影响度作为巷道模型的简化指标。基于履带支护车的运动特性,建立其在栅格化场景中的自主导航运动模型并进行液压行走系统的数学模型构建与稳定性分析;利用模糊控制与PID算法相结合进行控制参数的实时修正,实现履带支护车两侧履带速度的自适应调控以满足航向精度需求,完成履带支护车在不同滑转率影响下的航向角纠偏;搭建AMESim与Matlab/Simulink半实体物理仿真模型,对履带支护液压行走系统进行仿真验证。仿真结果表明,与传统PID控制算法相比,自主导航方法的航向角纠偏精度更高,履带调速更加稳定、不易发生振颤,验证了在栅格化场景中自主导航方法的可靠性与先进性。
The working condition of fully mechanized roadway is complex and also has the particularity of limited boundary.Aiming at the problem of heading angle correction of crawler support vehicle affected by the slip rate of coal roadway floor,an autonomous navigation method of crawler support vehicle is proposed in the grid scene of confined roadway space.The grid theory is used to divide the operational environment of fully mechanized roadway,and the heading reference influence degree is proposed as the simplified index of roadway model.Based on the motion characteristics of the crawler support vehicle,whose autonomous navigation motion model is established in the grid scene,the construction of mathematical model and the stability analysis of its hydraulic driving system are carried out.Adaptive control of the track speed on both sides of crawler support vehicle is realized to meet the accuracy requirements of the heading angle with the combination of fuzzy control and PID algorithm,which helps to complete the course correction of crawler support vehicle under the influence of different slip rates.The AMESim and MATLAB/Simulink semi-solid physical simulation model is built to simulate and verify the hydraulic walking system of crawler support vehicle.The simulation results show that the accuracy of the navigation algorithm is higher than that of the traditional PID control algorithm,and the track speed regulation process is more stable and less vibrational,which verifies the reliability and advancement of the autonomous navigation method based on the regional grid scene.
作者
李瑞
张敏骏
王鹏江
沈阳
吴淼
Li Rui;Zhang Minjun;Wang Pengjiang;Shen Yang;Wu Miao(School of Mechanical Electronic&Information Engineering,China University of Mining&Technology-Beijing,Beijing 100083,China;School of Mechanical Engineering,Tsinghua University,Beijing 100084,China)
出处
《矿业科学学报》
2020年第4期423-434,共12页
Journal of Mining Science and Technology
基金
国家重点基础研究发展计划(973)(2014CB046302)
国家自然科学基金面上项目(51874308)。
关键词
局域栅格化
受限巷道空间
履带支护车
自主导航
模糊PID
regional gird
limited roadway space
crawler support vehicle
autonomous navigation
fuzzy PID
