摘要
智慧矿山建设促使无人驾驶电驱矿车技术逐渐成为研究热点,而转向控制技术的优劣直接决定无人驾驶矿车的行驶稳定性和安全性。为了使全液压转向系统可以在无人驾驶场景下实现主动转向,以国内某135型电驱矿车的全液压转向系统为研究对象,建立线控液压转向系统模型,然后开展AMESim-Adams联合仿真分析和现场测试。结果表明:动态优先阀可以通过输入信号调节流量;转向油缸作为转向系统执行机构,可以快速、准确地完成转向任务;控制系统可以根据输入信号控制转向器的转向和停止,实际转角和输入转角基本吻合。该转向系统模型能够反映样车转向系统的动态特性,可为研究无人驾驶场景下线控转向的性能提供理论依据。
The construction of intelligent mine makes the technology of unmanned driving electric drive miner gradually become a research hotspot,and the steering control technology directly determines the driving stability and safety of unmanned driving miner.In order to achieve active steering for the full hydraulic steering system in the unmanned driving scenario,the full hydraulic steering system of a domestic 135-type electric drive miner was taken as the research object,and the model of the hydraulic steering system was established.Then,the AMESim-Adams joint simulation analysis and field testing were carried out.The results show that the dynamic priority valve can regulate flow rate according to the input signal;as the actuator of the steering system,the steering cylinder can complete the steering task quickly and accurately.The control system can control the steering and stopping of the steering gear according to the input signal,and the actual rotation angle is basically consistent with the input rotation angle.The steering system model can simulate the dynamic characteristics of the steering system of the prototype vehicle,which can provide a theoretical reference for studying the performance of steer-by-wire of unmanned driving.
作者
张志峰
马宁
郑闻豪
姚运仕
ZHANG Zhifeng;MA Ning;ZHENG Wenhao;YAO Yunshi(Key Laboratory for Highway Construction Technology and Equipment of Ministry of Education,Chang′an University,Xi′an Shaanxi 710064,China)
出处
《机床与液压》
北大核心
2025年第4期54-61,共8页
Machine Tool & Hydraulics
基金
国家自然科学基金青年科学基金项目(51208044)。
关键词
电驱矿车
线控液压转向系统
动态特性
无人驾驶
electric drive mine car
wire-controlled hydraulic steering system
dynamic characteristic
unmanned driving
