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中文摘要：
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。
英文摘要：
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.
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