智能履带式矿车及其路径跟踪研究

金属矿山 ›› 2016, Vol. 45 ›› Issue (01): 128-131.

智能履带式矿车及其路径跟踪研究

刘飞飞，苏文祥，古帅奇

江西理工大学机电工程学院，江西赣州 341000

出版日期:2016-01-15 发布日期:2016-03-11

Research on Intelligent Crawler Mine Car and Its Path Tracking

Liu Feifei，Su Wenxiang，Gu Shuaiqi

School of Mechanical and Electrical Engineering，Jiangxi University of Science and Technology,Ganzhou 341000,China

Online:2016-01-15 Published:2016-03-11

摘要/Abstract

摘要： 针对目前矿山巷道内的矿物运输劳动强度大、投资成本高等问题，设计了一种适合在复杂巷道内自由行走的智能履带式矿车。首先应用SolidWorks软件建立了矿车的三维结构模型，然后建立并分析了其运动学模型。在此基础上，采用模糊PID对矿车的路径跟踪进行了研究，通过MATLAB/SIMULINK仿真环境，对直线路径、曲线路径的跟踪进行模拟仿真。从仿真结果可看出：矿车在开始阶段有较大的偏差，但通过模糊PID控制器的在线整定，偏差很快被减小，矿车迅速向期望路径靠拢。该种智能履带式矿车的研究对提高矿物运输效率，降低矿物运输成本具有重要意义。

关键词: 矿山巷道, 履带式矿车, 模糊PID, 路径跟踪

Abstract: An intelligent crawler mine car that can be driven freely in complex mine tunnel was designed，according to mineral transportation problems，such as heavy labor intensity，high investment cost and so on.Firstly，the 3d model was established by using solidworks software，then its kinematics model was established and analyzed.On this basis，mine car path tracking was studied by using Fuzzy PID.Simulation on its straight line path，curve path was performed by MATLAB/SIMULINK.It was concluded from the simulation results that there was some deviation from the beginning stage，but the deviation can be decreased quickly through online setting of Fuzzy PID controller.Then the mine car can rapidly move close to the expected path.The study of intelligent crawler mine car was of great significance to improve the efficiency and reduce the cost of mineral transportation.

Key words: Mine tunnel, Crawler mine car, Fuzzy PID, Path tracking

刘飞飞, 苏文祥, 古帅奇. 智能履带式矿车及其路径跟踪研究[J]. 金属矿山, 2016, 45(01): 128-131.

LIU Fei-Fei, SU Wen-Xiang, GU Shuai-Qi. Research on Intelligent Crawler Mine Car and Its Path Tracking[J]. Metal Mine, 2016, 45(01): 128-131.

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