工矿自动化2026，Vol.52Issue(8)：78-84,7.DOI:10.13272/j.issn.1671-251x.2026050097
基于平滑逆死区补偿的地下铲运机线控转向控制方法
Steer-by-wire control method for underground load-haul-dump vehicles based on smooth inverse dead-zone compensation
摘要
Abstract
The electrohydraulic steer-by-wire systems of underground load-haul-dump vehicles exhibit an input dead zone,causing delayed articulation-angle response and reduced tracking accuracy at low control-signal magnitudes.However,few studies have addressed dead-zone compensation in steer-by-wire control for these vehicles.To address these issues,a steer-by-wire control method for underground load-haul-dump vehicles based on smooth inverse dead-zone compensation was proposed.The actual articulation angle was measured using a single-turn absolute encoder,and the tracking error was calculated as the difference between the target and measured articulation angles.An incremental PID controller calculated a PID control signal from this error.A smooth inverse dead-zone compensation function then added a compensation term according to the direction and magnitude of this signal,generating the control signal for an electrohydraulic proportional directional valve.This valve drove differential extension and retraction of the steering cylinders,causing the front and rear vehicle bodies to rotate relative to each other about the articulation pin to achieve steering.Full-scale vehicle tests showed that smooth inverse dead-zone compensation reduced steering response time by 23.3％and total control-signal variation by approximately 38％.These results indicate that the compensation improves control smoothness while reducing response delay.The articulation-angle tracking error during the steady phase of step-trajectory tracking did not exceed 0.5°,and the maximum instantaneous error during sinusoidal-trajectory tracking was 4.9°,indicating high tracking accuracy for targets with different dynamic characteristics.Load had little effect on step-trajectory tracking accuracy.Although the peak sinusoidal-trajectory tracking error increased with load,tracking remained continuous and stable under heavy loads.关键词
地下铲运机/线控转向/平滑逆死区补偿/增量式PID控制/铰接角Key words
underground load-haul-dump vehicle/steer-by-wire/smooth inverse dead-zone compensation/incremental PID control/articulation angle分类
矿业与冶金引用本文复制引用
邱林宾,朱志远,高路路,隋福仁..基于平滑逆死区补偿的地下铲运机线控转向控制方法[J].工矿自动化,2026,52(8):78-84,7.基金项目
国家自然科学基金面上项目(52474171). （52474171）
