矿用防爆辅运车辆自动驾驶线控转向系统研究

Study on Automatic Steer-by-wire System of Mine Explosion-proof Auxiliary Vehicles

针对《关于加快煤矿智能化发展的指导意见》中提及的2025年大型煤矿要基本实现智能化,井下重点岗位机器人作业,实现智能无人化辅助运输的指导意见,结合智能控制技术、路感信息形成及反馈技术、多传感器信息融合技术,开发了一套煤矿辅运车辆自动驾驶线控转向系统。详细分析了基于转角偏差PI控制技术线控转向系统的组成和实现方法,以目标转角和实际转角的偏差为信号,通过PI闭环控制技术精确控制转向轮偏转方向和角度,使得系统输出能够平稳、精准、快速地跟随指令目标转角,进而实现车辆自动驾驶精准转向控制。通过搭建辅运车辆自动驾驶线控转向平台进行了模拟试验,试验结果表明:基于转角偏差PI闭环控制技术的线控转向系统响应快速,转向误差约2°,超调较小,能够实现辅运车辆自动驾驶转向精准控制和自动纠偏,为实现互联网+科学开采的未来少人(无人)采矿提供了技术路径。

According to the Guiding Opinions on Accelerating the Intelligent Development of Coal Mines,it is proposed that large coal mines should be basically intelligent by 2025,with robots operating in key underground positions,and intelligent unmanned auxiliary transportation,combined with intelligent control technology and road sensing information formation and feedback technology,multi-sensor information fusion technology,an automatic steer-by-wire system for mine explosion-proof auxiliary vehicles was developed.The composition and implementation method of the steer-by-wire system based on the steering angle deviation PI control technique were introduced in detail.The deviation between the target steering angle and the actual steering angle was used as a signal,and the steering wheel deflection direction and angle could precisely controlled through PI closedloop control,so that the system output could be stable and accurate,quickly follow the command and target turning angle,and then realize the precise steering control of the vehicle′s automatic driving.A simulation test was carried out by building an automatic steer-by-wire platform for auxiliary vehicles.The test results showed that the steer-by-wire system based on the steering angle deviation PI closed-loop control technology responded quickly,the automatic steering error was about 2°,and the overshoot was small.It has realized the automatic steering precision control and automatic correction of auxiliary vehicles,and provided a technical path for the realization of the future of Internet+scientific mining with few people(unmanned)mining.