The invention discloses an unmanned mine truck body attitude all-road-condition control system and method based on a reference model. The reference model module is used for acquiring continuous road surface unevenness information reconstructed by the road condition recognition module and a discrete turning instruction/discrete driving instruction/discrete braking instruction/discrete turning and braking instruction/discrete turning and driving instruction intermittently formed by the driving behavior decision module; the change conditions of the unmanned mine truck body pitch angle and the body roll angle in a future period of time are output in advance; when the unmanned mine truck passes through continuous uneven road surfaces and discrete road conditions in the future, the active hydro-pneumatic suspension module controller outputs the error between the actual body pitch angle and the body roll angle of the unmanned mine truck and the target body pitch angle and the body roll angle of the unmanned mine truck within a period of time in the future in advance according to the reference model module. And controlling an actuator of the active hydro-pneumatic suspension module to output corresponding displacement so as to eliminate errors and restrain the posture change of the unmanned mine truck body. According to the invention, the unmanned mine truck all-road-condition vehicle body attitude stability can be ensured.

    本发明公开一种基于参考模型的无人矿卡车身姿态全路况控制系统与方法,参考模型模块根据路况识别模块重构的连续路面不平度信息和驾驶行为决策模块间歇形成的离散转弯指令/离散驱动指令/离散制动指令/离散转弯与制动指令/离散转弯与驱动指令,提前输出未来一段时间内无人矿卡车身俯仰角和车身侧倾角变化情况;主动油气悬架模块控制器根据参考模型模块提前输出的未来一段时间内无人矿卡实际车身俯仰角和车身侧倾角与无人矿卡目标车身俯仰角和车身侧倾角之间的误差,在无人矿卡通过未来连续不平路面和离散路况时,控制主动油气悬架模块执行器输出相应的位移以消除误差,抑制无人矿卡车身姿态变化。本发明能确保无人矿卡全路况车身姿态稳定。


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    Title :

    Unmanned mine truck body attitude all-road-condition control system and method based on reference model


    Additional title:

    一种基于参考模型的无人矿卡车身姿态全路况控制系统与方法


    Contributors:
    DING RENKAI (author) / WANG RUOCHEN (author) / MENG XIANGPENG (author) / SUN ZEYU (author) / SUN DONG (author) / LIU WEI (author) / JIANG YU (author) / CHEN JIE (author)

    Publication date :

    2023-09-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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