露天横移带式输送机履带车同步跟随技术研究

Research on Synchronous Following Technology of Crawler Car of Open-air Transverse Belt Conveyor

对露天煤矿横移带式输送机履带车的同步跟随提出合理的PLC控制逻辑,即求解履带车两条履带的速度控制方程。应用履带车转向理论,建立3个自由度上的运动方程,即同步跟随控制模型,结合预设的履带速度控制逻辑,求解履带车两条履带的速度控制方程。对求解结果用MATLAB进行仿真验证,同步跟随控制模型可以为PLC调整履带速度提供精确的控制过程。

A reasonable PLC control logic for the synchronous follow-up of the crawler car of the transverse belt conveyor in the open-air coal mine is put forward,which is to solve the speed control equations of the two crawlers of the crawler car.Applying the steering theory of tracked vehicle,the motion equations on three degrees of freedom are established,that is,the synchronous follow-up control model.Combined with the preset track speed control logic,the speed control equations of two tracks of tracked vehicle were solved.The simulation results were verified by MATLAB.The synchronous follow-up control model can provide an accurate control process for PLC to adjust the track speed.