基于迭代学习的地下自主铲运机样机轨迹控制

针对地下自主铲运机样机,设计了基于PID型迭代学习控制理论的运动轨迹控制算法,实现了实验室环境下地下自主铲运机样机运动轨迹的快速、平稳、准确的控制。利用示教法得出初始先验控制量,结合信息检测系统测量计算得出的航向角偏差和轨迹偏差的反馈修正量,通过对铰接转向角度和行驶速度的控制,使铲运机样机车体与墙壁保持一定的安全距离和安全角度,实现了样机的自主行驶功能,并且有效地改善了行驶过程中对运动轨迹的跟踪性能。     

基于改进模糊PID算法的智能铲运机自主行驶控制方法

针对智能铲运机在井下环境中的自主行驶问题,在现有基础的多变量PID算法和传统的模糊PID算法基础上,设计了改进模糊PID算法。改进模糊PID算法引入权重协调航向角控制器和横向偏差控制器对输出转向角的影响。建立铲运机自主行驶的SIMULINK仿真模型。仿真结果表明,改进模糊PID算法在响应时间、超调量以及稳态误差等方面相比于多变量PID算法有较大优势。     

地下铲运机牵引力特性研究

地下铲运机在自主行驶时速度与加速度的控制非常重要,通过对2m3铲运机发动机与变矩器共同输入输出点的计算,结合传动系统模型,得出了不同油门开度下铲运机的牵引力与速度的关系,为后续地下铲运机自主行驶方面的研究提供了借鉴。     

基于CAN总线的地下铲运机遥控系统的研究

地下铲运机的控制系统是基于CAN总线的车载计算机控制系统。通过主控制器的协调作用,实现地下铲运机在本机手控操作、远程遥控操作和自主导航行驶3种工作模式下的正常工作。整个控制系统构建在CAN总线之上,目前在模拟样车上已取得良好的应用效果。     

典型路径下的地下铲运机行驶轨迹分析

路径跟踪是实现地下铲运机自动化作业的基本任务之一,一般在规划要求跟踪的路径时以巷道路面中心线为期望路径。本文通过典型路径下的地下铲运机行驶轨迹分析,证明了地下铲运机前桥中心点和后桥中心点并不能同时跟踪巷道路面中心线。当考虑到地下铲运机的车身外廓后,其定位中心点的轨迹与巷道路面中心线也不重合。因此在规划地下铲运机自主行驶期望路径时,应该以铲运机实际的轨迹为设计依据。     

地下铲运机多模式自主行驶控制方法研究

针对井下复杂多变的巷道环境条件和地下铲运机的车身结构特点,将地下铲运机目标路径规划及偏差计算结合起来,并划分为四种计算控制模式,即扫描光束三角计算偏差、扫描光束对称计算偏差、人工示教和轨迹偏差推算等控制模式。通过在不同的井下巷道环境条件下,运用不同的偏差计算控制模式或将其组合使用,在减少计算量和控制复杂性的同时,取得地下铲运机较理想的自主行驶控制效果。     

地下铲运机跟踪轨迹推算模型研究

路径跟踪是实现地下铲运机自动化作业的基本任务之一。本文对地下铲运机跟踪轨迹特性进行了研究,对轨迹参数进行了定义,推导出了轨迹偏差与车辆结构尺寸、转向角、转向角速率、车速、路径曲率的函数关系,建立了轨迹推算精确模型,为地下铲运机导航控制器的设计奠定了基础。     

井下铲运机无人驾驶系统发展及5G应用

铲运机无人驾驶是智能矿山建设的重要组成部分,为了实现高海拔高寒地区井下无人采矿,本文通过梳理国内外铲运机无人驾驶系统发展现状,分析铲运机自主行驶系统相关理论和关键技术,从地下铲运机轨迹偏差预测技术、自主行驶多偏差控制技术和防碰撞预测与控制技术等方面进行了归纳总结。以西藏华泰龙矿为例,采用最新网络通信技术5G,建设了5G+高海拔高寒地区铲运机无人驾驶系统。对铲运机无人驾驶系统在高海拔高寒地区的发展具有重要意义。     

地下铲运机发动机负载调速特性模型研究

发动机模型是研究车辆传动系统的基础,根据发动机外特性数据用叠加函数法构建地下铲运机的各个油门开度下的调速特性模型,之后结合系统油泵的输出功率,建立了发动机负载特性模型,为后续自主行驶地下铲运机传动系统建模分析起到了关键作用。     

无人操纵铲运机井下导航研究

研究地下无人操纵铲运机井下导航系统,包括整体的导航方案选定,控制部分硬件的搭建,铲运机转向液压控制部分的设计以及导航算法的研究和验证.利用PROE和ADAMS对某型号铲运机进行三维多体力学建模,针对转向系统,通过MAT-LAB/Simulink联合仿真对转向算法进行验证,确定最佳算法.     

China rare earth market review

正November 21~30,2014Due to weak demand from downstream industries,transactions of rare earth in Chinese domestic market were inactive.It was difficult to sell any rare earth products except for dysprosium oxide and terbium oxide.Suppliers lost confidence in recent market.Demand for rare earth products was soft.Consumers continued to take a wait-and-see attitude.Rare earth export market remained slow.     

Current situation and future trend of China rare earth luminescent materialindustry(continued)

<正>Developing ecological lighting source The world is facing the big problem of energy shortage today and the contradiction between economy development and environmental protection is worsened.Therefore,people are more likely to choose an ecological light source that is more energy efficient and environmental friendly.The choice provides great opportunity for the development of rare earth optical material industry in China.The concept of green lighting positions rare earth luminescent material as a leading player in illumination market.The light source of both rare earth luminescent lamp and LED lamp is ecological and energy saving.This is why     

Galaxy Magnets achieved the net profit of 34.02 million yuan in the first six months of 2014

正Galaxy Magnet announced its financial results for the first half of 2014 on August 14.For the first six months ended on 30 June 2014,Galaxy Magnet achieved operation income of RMB 182.3 million,up8.40% over the same period of 2013,and the net profit attributable to the shareholders of the listed company of 34.02 million yuan,increasing 35.49% over the same period of last year.Stable performance increase was led by development of new customers and application market of magnets.     

Rare Earth Application in Steel in China

<正>China has rich rare earth resources.Output of rare earth and steel in China ranks the top first in the world.However,there is still certain distance between the steel produced in China and developed countries from the point of varieties and quality.China still has to import some types of steel.Improving the quality should be emphasiZed in future development of steel industry in China.Rare earth can be used to upgrade traditional steel     

稀散金属产业的观察与思考

分析了近年来国内外稀散金属产业的生产、应用、资源与市场状况.铟锡氧化物靶材、砷化镓晶片、锗红外材料、铼高温合金和硒在电解锰及玻璃的应用等已成为稀散金属的主要应用领域.稀散金属的产量快速增长达到历史高位而导致了市场的失衡.以GaInP_2/GaAs/Ge,CIGS和CdTe为代表的非硅系太阳能电池是稀散金属的新兴应用领域,将给稀散金属带来日益增长的需求.     

China rare earth market review

正November 1~10,2014Chinese rare earth market was still inactive.Demand for rare earth products was weak.Consumers took a wait-and-see attitude for lower price.As it was an off season for rare earth products,it was expected that prices of rare earth could continue turbulence at the bottom in short terms.Due to a sharp drop,demand for rare earth from downstream recovered.Affected by new energy vehicles,wind powder and energy-efficient appliances,production of rare earth permanent     

China rare earth market review

正August 1~10,2014 There was some good news in rare earth industry recently.Restructuring plans of rare earth groups led by Baotou IronSteel Group and Xiamen Tungsten Group respectively have been approved by MIIT.And rare earth storage policy,which had been expected for a very long time,has been launched officially.Pushed by the good news,rare earth price started to rebound since August 5.Price of didymium oxide and dysprosium oxide rose about 1% to 2%,averagely.About 10% of     

China rare earth market review

正July 1~10,2014Due to weak demand from downstream industry and slow transactions,rare earth market remained weak and price of rare earth products continued to decline.There was no sign of recovery in downstream market.The market of NdFeB magnetic materials and phosphor was depressed.Catalyst,     

New energy vehicle:an opportunity for rare earth magnets

<正>Extracted from Securities Guide 1.Popularity of new energy vehicles—an irresistible market trend1.1 Progress of new energy vehicles Chinese Premier Li Keqiang said recently on a visit to Xi'an BYD Autos that new energy vehicles,especially new energy bus,can lessen environment and noise pollution.He encouraged the use of new     

Brief news

正Corun invested another 50 million yuan in power battery for HEV Hunan Corun announced on 27 June that they had signed the cooperation agreement to jointly built Corun(Shaoxing)Autos Power Battery System Co.,Ltd.in Shaoxing Binhai New City.According to the announcement,total registered