论文部分内容阅读
为了降低生产成本,提高矿用车辆系统的自动化程度,设计开发了一种单轨引导式自动矿用车辆导向机构,提出了一种基于曲柄滑块机构的单轨引导自动导向方法,进行了矿用车辆的导向运动学分析,建立了导向运动数学模型。设计了矿用车辆控制系统,进行了矿用车辆直线跟踪和曲线跟踪试验。试验结果表明,矿用车辆以2 m/s的速度直线运行时,跟踪误差小于0.1 m;矿用车辆以4 m直径转弯运行时,跟踪误差小于0.2 m。这说明该机构能够满足矿用车辆作业路线跟踪控制的要求。
In order to reduce the production cost and improve the automation degree of the mining vehicle system, a guide system of monorail guidance automatic mining vehicle is designed and developed. A monorail guidance automatic guidance method based on the crank-slider mechanism is proposed. The mining vehicles Guided kinematics analysis, established a mathematical model of the guidance movement. The mine vehicle control system is designed and the straight line tracking and curve tracking test of mining vehicles are carried out. The test results show that the tracking error is less than 0.1 m when the mine vehicle runs straight at a speed of 2 m / s and the tracking error is less than 0.2 m when the mine vehicle runs with 4 m diameter turning. This shows that the agency can meet the requirements of the track control of mining vehicles operating routes.