露天采矿技术2024，Vol.39Issue(1)：26-31,6.DOI:10.13235/j.cnki.ltcm.2024.01.006
矿用无人运输车辆精准停靠控制算法
Precise parking control algorithm for mining unmanned transport vehicles
张翔宇 1徐国艳 1夏启 1李涵 1徐全耀 2蔡明祥2
作者信息
- 1. 北京航空航天大学 特种车辆无人运输技术工业和信息化部重点实验室,北京 100191||北京航空航天大学交通科学与工程学院,北京 100191
- 2. 国能新疆准东能源有限责任公司,新疆 昌吉 831100
- 折叠
摘要
Abstract
The precise parking control experiments and research are conducted using an autonomous mining transport vehicle as the platform.To achieve the desired parking position as accurately as possible,the article first designs a distance-velocity planning scheme.Based on this,the article proposes a feedforward and feedback actuator aperture control algorithm.Additionally,we consider acceleration compensation terms in the low-level control and optimizethe brake switching logic.Subsequently,wecarry out simulation tests and real-world vehicle experiments,and adjustcontrol parameters through the tests,eliminating the need for laborious system parameter identification.The results show that the adoption of a precise docking strategy reduces speed fluctuations caused by disturbances and optimizes the low-level control logic,effectively enhancing parking accuracy.关键词
无人运输/精准停靠/距离-速度规划/误差反馈控制/制动逻辑切换Key words
unmanned transport/precision parking/distance-velocity planning/error feedback control/braking logic switching分类
矿业与冶金引用本文复制引用
张翔宇,徐国艳,夏启,李涵,徐全耀,蔡明祥..矿用无人运输车辆精准停靠控制算法[J].露天采矿技术,2024,39(1):26-31,6.
