矿用液压式履带底盘纠偏系统研究与应用

Research on correction system of mining hydraulic track chassis

针对现有矿用液压式履带底盘在移动行走中出现的履带底盘直行跑偏问题,提出一种基于超声波测距的履带底盘纠偏系统及控制方法,使其避免因行驶跑偏导致的作业失效甚至碰壁事故;该系统采用超声波测距传感器对履带行驶偏差进行智能感知,利用西门子PLC控制器完成对纠偏信息的实时数据处理与指令控制。详细阐述了履带纠偏控制原理及其实现方法,并基于模拟实验平台进行了验证分析;实验结果表明,当履带偏移角度或距离超出设定值时,纠偏控制系统开始工作,该系统可控制液压式履带底盘的偏移角度范围为-5.5°~6°,偏移距离最大不超过24 cm。

In order to avoid operational failure or even wall collision accidents caused by driving deviation,a track chassis correction system and control method based on ultrasonic distance measurement is proposed to address the problem of track chassis straight-line deviation during mobile walking of existing hydraulic track chassis used in mining.Ultrasonic ranging sensors are used in this system to intelligently perceive the deviation of track movement,and Siemens PLC is used to complete real-time data processing and command control of deviation correction information.The principle and implementation method of track correction control were elaborated in detail,and verification analysis was conducted based on a simulation experimental platform.The experimental results show that when the deviation angle or distance of the track exceeds the set value,the correction control system starts to work,and the system can control the deviation angle of the hydraulic track chassis within the range of-5.5°to 6°,and the maximum deviation distance within 24 cm.