煤矿铰接车辆线控转向技术综述

线控转向是提高煤矿铰接车辆在复杂环境灵活稳定运行的一项前沿基础技术,不仅能够提升铰接车辆转向性能,还是未来实现智慧矿山无轨辅助运输系统智能化、无人化的核心技术。针对铰接车辆线控转向技术,分析了线控转向系统的发展现状,阐述了线控转向系统应用于煤矿铰接车辆的优势,指出在应用过程中的痛点和难点;分别对线控转向系统的电液控制以及执行元件等在节能性和控制精确性等方面进行研究,归纳总结出适用于煤矿铰接车辆的电液泵控和电液阀控两大主流技术,分析对比了两种技术的原理和特点;聚焦铰接车辆线控转向的五大关键技术,提出了实现关键技术的路径;探讨了节能性、容错性、控制精度在未来的发展趋势。旨在通过对线控转向技术的研究,为煤矿铰接车辆转向性能的优化和实现自主行走提供科研思路,为更快地实现智能化无轨辅助运输打好扎实基础。

Review of Steer-by-wire Technology of Articulated Vehicle in Coal Mine

Steer-by-wire is a frontier basic technology to improve the flexible and stable operation of articulated vehicles in complex environment. It can not only improve the steering performance of articulated vehicles, but also is the key core technology to realize the intelligent and unmanned trackless auxiliary transportation system of intelligent mine in the future. Aiming at the steering by wire technology of articulated vehicles, the development history of steering by wire technology of articulated vehicles is systematically summarized, and the development status of steering by wire system is analyzed. This paper expounds the advantages of steer-by-wire system applied to articulated vehicles in coal mines, and points out the pain points and difficult problems in the application process. This paper studies the energy saving and control accuracy of the electro-hydraulic control and actuator of steer by wire system, summarizes two mainstream technologies of electro-hydraulic pump control and electro-hydraulic valve control, and analyzes and compares the principles and characteristics of the two technologies. Focusing on the four key technologies of steer-by-wire for articulated vehicles, the path to realize the key technologies is proposed. The development trend of energy saving, fault tolerance and control accuracy in the future is discussed. Through the research of steer-by-wire technology, this paper aims to provide scientific research ideas for the optimization of steering performance of articulated vehicles in coal mines and the realization of autonomous walking, and lay a solid foundation for the faster realization of intelligent trackless auxiliary transportation.