Study On The Electromechanical Coupling Dynamic And Navigation Control Of Six-Crawler Machinery

The six-crawler travelling gears are used for the load-bearing,moving and steering of large-scale machines such as bucket wheel excavators、stackers and mobile crushing stations.Their travelling characteristics directly affect the work safety and working efficiency of the machineries.The research of the theory of multi-crawler machinery travelling,electromechanical coupling dynamics and satellite navigation technology to improve the design quality of multi-crawler chassis,improve its trajectory controllability and realize its adaptive travelling are key project that needs to be solved urgently for the development of large-scale mining equipment.This paper combines the National Natural Science Foundation project "Multi-crawler vehicles electromechanical coupling dynamics and adaptive control"(No.51775225)to study the six-crawler mechanical and electrical coupling dynamics satellite navigation control technology,through the analysis of six-crawler mechanical travelling mechanics,The electromechanical coupling dynamic model of the six-crawler travelling gear is established.The performances of the six-crawler mechanical traveling are simulated and the electromechanical coupling model and numerical solution method are verified by the experiments.The principle of satellite navigation based on RTK is introduced.The experimental platform of six-crawler mechanical path tracking control system is built.The control results of RTK satellite navigation path tracking control system are verified by various travelling conditions and actual tracking data of different initial deviations.Firstly,the structural characteristics and driving methods of multi-crawler travelling gear are introduced.The research status of multi-crawler mechanical dynamic analysis,electromechanical coupling dynamics,satellite navigation control and fuzzy PID control method for tracked vehicles are reviewed.The structural characteristics and motion characteristics of the travelling gear establish the mechanical equations of straight-line travelling,steady-state steering and unsteady steering,and the numerical solution method is given.The dynamic equations of the three-phase asynchronous motor are established.The electromechanical coupling dynamic equations of the six-crawler mechanical straight-linetraveling condition and the steering condition are established respectively.The electromechanical prameters under different traveling conditions are simulated and the the influence of the structure parameters and drive mode on travelling performances are analyzed.The test of the motor parameters of the straight traveling and steering of the six-crawler bucket wheel excavator is carried out,and the theoretical analysis results are verified.A six-crawler mechanical travelling performance analysis platform is developed to realize the calculation and evaluation of the electromechanical performances of the typical conditions of the six-crawler machinery.The platform can analyze the performances of different crawler arrangements and track drive mode,and provide a reasonable six-crawler chassis with reasonable structure and motor parameters according to the design requirements.The principle of satellite positioning and navigation based on RTK is introduced.Based on fuzzy PID algorithm,a six-crawler mechanical satellite navigation path control system is designed.The distance deviation and heading angle deviation between the actual path and the preset path of the six-crawler machine are used as fuzzy PID controller.The input,and according to the mechanical control needs to develop fuzzy rules,control the track speed of each track of the six-crawler machine and the deflection angle of the steering track set to achieve path tracking control.A virtual prototype model of six-crawler mechanical machine is established.Through the joint simulation,the path tracking control effect of the controller on the six-crawler machine under the six-crawler mechanical straight-line travelling and curve travelling conditions is analyzed.The results show that the fuzzy PID controller has good control effect on the path tracking control of the six-crawler machine.The actual travel path of the six-crawler machine can quickly converge to the preset path,and the distance deviation and heading angle deviation are maintained when entering stable travelling.In a smaller range,the requirements for autonomous navigation are met.In order to further verify the control effect of the six-crawler mechanical satellite navigation control system,based on the RTK navigation technology,a six-crawler vehiclesatellite navigation control test system is designed,mainly consisting of six-crawler test prototypes,data acquisition and processing system,and RTK navigation-based path tracking system.And the computer control system is composed of satellite positioning information to obtain a trajectory of the preset path navigation line.Based on the fuzzy PID control method,the distance deviation and heading angle deviation between the actual travelling path and the preset path of the test prototype are analyzed respectively.The experimental results verify that the satellite navigation control system has better control effect.In summary,this paper establishes a six-crawler mechanical travelling mechanic model and electromechanical coupling dynamics model,which are verified by the experiments.A six-crawler mechanical travelling performances analysis platform and a six-crawler mechanical path tracking control system based on satellite navigation are developed.The research work of the thesis provides references for the design of multi-crawler travelling gear and the improvement of the intelligent level of multi-crawler machinery.