CAJ | 학술논문

巷道轮式液压动车组（简称动车组）是在分体式连采机搬运车技术基础上研制的井下大型采煤设备辅助运输平台，具有高速度、高效率、超运力的优点。针对巷道中对车辆转向的苛刻要求，提出了整车转向协调控制策略，对该控制策略中直行偏差消除、转向过程轨迹跟踪控制方法及整车可通过性进行研究。该控制策略为多节独立转向车组的研发提供了理论依据，对工程实践具有指导意义。
항도륜식액압동차조（간칭동차조）시재분체식련채궤반운차기술기출상연제적정하대형채매설비보조운수평태，구유고속도、고효솔、초운력적우점。침대항도중대차량전향적가각요구，제출료정차전향협조공제책략，대해공제책략중직행편차소제、전향과정궤적근종공제방법급정차가통과성진행연구。해공제책략위다절독립전향차조적연발제공료이론의거，대공정실천구유지도의의。
The tunnel wheeled hydraulic Power transportation unit ( PTU as brief) used in the coal mine tunnel is large under?ground mining auxiliary transport platform with high speed, high efficiency and ultra?capacity advantages, which was on the basis of the technology of split transport vehicle. Aimed at the high demanding of vehicle?s steering in tunnel, a coordinated vehicle steering control strategy is proposed. Research on elimination of the deviation in straight way, method of tracking control in the process of turning and the unit?s passing ability was conducted. The control strategy provides a theoretical basis to the development of multi?section independ?ent steering vehicle, and it has significance of an introduction for the engineering practice.