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中文摘要：
由于煤矿井下巷道路况的复杂性和特殊性,研发了适用于煤矿井下复杂环境的巷道分体式重载运输车,并设计了分体车转向系统协调控制试验平台。针对具有模块化自驱式的分体车建立分体车转向数学模型,对随机运动模式进行路线动态规划。通过转向过程的轨迹跟踪试验、直行偏差消除试验和避障试验,验证了滞后随动轨迹跟踪控制策略的可行性,现场进行实车试验满足实际工况要求。其研究结果对大型巷道辅助运输车辆控制规律的研究具有借鉴意义。
英文摘要：
Because of the complexity and particularity of the underground roadway in coal mine, researched a kind of separated overloaded vehicles which was applicable to the complex environment of the roadway, and designed the experimental bench of the coordinated control of the steering system With the multiple sub-modular and self-driven separated vehicles, constructed the steering mathematical mode, and planned dynamic route on the random movement patterns. Verified the feasibility of the control strategy by steering trajectory track test, straight deviation elimination test and obstacle avoidance test. The vehicle test of working conditions meet the requirements. The findings, which have set a reference for other research for the control laws of the large roadway vehicles.
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