Adaptive Steering System and Implementation Method of Dual-crawler Traveling Device

Abstract

The invention discloses a self-adaption steering system of a double-crawler traveler unit and a realization method of the system. The self-adaption steering system comprises a GPS (global position system) receiver, an optical-electricity encoder set, a data acquisition card, an industrial personal computer, a D / A (digital / analogue) conversion unit, a drive motor control unit and a power supply, wherein the optical-electricity encoder set is connected with the data acquisition card; the output ends of the GPS receiver and the data acquisition card are connected with the input end of the industrial personal computer, and the outer put end of the industrial personal computer is connected with the input end of the D / A conversion unit; the output end of the D / A conversion unit is connected with a drive motor control unit; the power supply supplies power for the whole system. According to the self-adaption steering system of the double-crawler traveler unit and the realization method of the system, the situations of slippage and trackslip generated when the double crawler unit steers are solved, and the safety and the working efficiency of open-cast mining machines are improved; by utilizing fuzzy neural network technologies, the actual steering radius of the double-crawler traveler unit is matched with the steering radius required by the theory by controlling a drive motor of the double-crawler traveler unit, so as to realize the intelligent steering.

Description

technical field [0001] The invention relates to the technical field of intelligent control of a dual-crawler traveling device, in particular to a fuzzy neural network-based adaptive steering system for a dual-crawler traveling device and an implementation method. Background technique [0002] The double crawler traveling device is widely used in surface mining equipment such as bucket wheel excavators, soil dumpers, mobile crushing stations, etc. These machines often weigh hundreds of tons, or even thousands of tons. The double crawler walking device is driven by a motor, and the speed of the two crawlers is adjusted by the frequency converter to realize the steering. [0003] In the prior art, when the driver of an open-pit mining machine steers the double-crawler traveling device, the actual turning radius is always greater than the theoretical turning radius due to slipping and sliding between the crawler and the ground. The double-crawler traveling device The accuracy o...

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Problems solved by technology

[0003] In the prior art, when the driver of an open-pit mining machine steers the double-crawler traveling device, the actual turning radius is always greater than the theoretical turning radius due to slipping and sliding between the crawler and the ground. The double-crawler traveling device The accuracy of driving trajectory is low, which directly affects the safety and work efficiency of surface mining machinery

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