The invention discloses a speed following control method for an unmanned electrically-driven mine car, which comprises a planning module, a control module and a positioning module, and comprises the following steps: S1, outputting a planned acceleration and a planned speed by the planning module, and calculating a target acceleration according to the planned acceleration, the planned speed and the current speed of the mine car; S2, calculating the pitch angle of the ramp according to the pose information output by the positioning module; S3, calculating vehicle resistance and calculating target traction force by the control module according to the Newton second law; and S4, according to the target traction force F, in combination with vehicle speed information, performing table look-up on the motor external characteristic curve/generator external characteristic curve, and obtaining a vehicle accelerator/electric brake control instruction through calculation. The method has the advantages that the control instruction is more accurate, the robustness is high, and various complex working conditions can be well adapted.

    本发明公开了一种无人驾驶电驱动矿车的速度跟随控制方法,包括规划模块、控制模块和定位模块,包括如下步骤:S1:由规划模块输出规划加速度、规划速度,根据规划加速度、规划速度、矿车当前速度计算目标加速度;S2:根据定位模块输出的位姿信息计算坡道俯仰角;S3:控制模块计算车辆阻力,并根据牛顿第二定律计算目标牵引力;S4:根据目标牵引力F,结合车速信息,对电机外特性曲线/发电机外特性曲线进行查表,计算获得车辆油门/电制动控制指令。其优点在于,控制指令更加精确,鲁棒性强,能够很好的适应各种复杂工况。


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    Titel :

    Speed following control method for unmanned electrically-driven mine car


    Weitere Titelangaben:

    一种无人驾驶电驱动矿车的速度跟随控制方法


    Beteiligte:
    CHEN YAJUE (Autor:in) / ZHAO BINGHUI (Autor:in) / WEI HUI (Autor:in) / DING GUOXU (Autor:in)

    Erscheinungsdatum :

    2021-05-07


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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