Full hydraulic steering system adopted by mine electric-wheel dump truck is powered by steering hydraulic accumulator and steering hydraulic pump. Its actual steering response ability affected by road surface condition, steering oil pressure and flow, thus, it is a typical large inertia and time-varying execution system. Time-varying characteristics of the steering speed put forward time-varying coordination requirements for the lateral and longitudinal motion which indirectly restricted lateral motion ability of the unmanned mine truck. Speed planning and control without considering steering speed characteristics will result in poor coordination of lateral and longitudinal motion, which will lead to ineffective vehicle tracking. Firstly, this paper analyzes the key factors of time-varying response characteristics of the full hydraulic steering system based on its system principle. Secondly, the constraint of steering speed on the coordination of lateral and longitudinal motion is determined based on the deformation derivation of the truck kinematics model. Finally, combined with the pressure information of the steering accumulator, evaluation model of steering response capability and speed adjustment method in accordance with lateral and longitudinal cooperative constraints are established. Actual test results show that the designed speed adjustment method can achieve good tracking of the mine truck on the continuous limit curve path, with an average lateral error of 0.2 m, and ensure the continuous tracking ability of the mine electric-wheel dump truck on the complex curvature path.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Research on Speed Control of Unmanned Mine Electric-wheel Dump Truck Considering Time-varying Response Characteristics of Steering System


    Beteiligte:
    KANG Yuanrong (Autor:in) / LIU Yong (Autor:in) / LAN Deshao (Autor:in) / YUAN Xiwen (Autor:in) / GAO Yongtao (Autor:in)


    Erscheinungsdatum :

    2022




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




    Unmanned mining dump truck with electric wheels and four-wheel hydraulic steering system and method

    MA CHAO / MENG YOUPING / CHEN JUNYU et al. | Europäisches Patentamt | 2025

    Freier Zugriff

    Electric wheel type mining dump truck and unmanned driving system thereof

    DIAO ZHIHANG / WANG SHANWEI / GU YANGXIN et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Redundant steering control system and method for unmanned mining dump truck

    LI MIAO / CHU HUAFENG / WANG BO et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Control method of pure electric mine dump truck

    WANG ZHENGZHONG / DENG ZEJING / LAN QIAN | Europäisches Patentamt | 2023

    Freier Zugriff

    MANAGEMENT SYSTEM FOR UNMANNED DUMP TRUCK AND MANAGEMENT METHOD FOR UNMANNED DUMP TRUCK

    KONISHI SHOTA / SAKAI ATSUSHI / YOSHIMATSU AKIHIRO | Europäisches Patentamt | 2024

    Freier Zugriff