The invention discloses a mining dump truck ABS control method based on fuzzy PID, and the method comprises the steps: transmitting vehicle speed information and wheel speed information to a slip rate calculation module through a mining dump truck and a wheel speed sensor, and transmitting the sum obtained through calculation to a fuzzy controller and a PID controller through the slip rate calculation module; the fuzzy controller transmits the three control parameters obtained through solution to the PID controller, the PID controller feeds the brake pressure obtained through calculation back to a wheel cylinder of the mining dump truck, the output wheel cylinder pressure is adjusted to adjust the rotating speed of wheels, and stable and accurate wheel anti-lock control is achieved during emergency braking of a mine car. The method has the advantages that the problem of slipping during emergency braking of the unmanned mining dump truck is solved, and the high control precision of the wheel slip rate is guaranteed.
本发明公开一种基于模糊PID的矿用自卸车ABS控制方法,矿用自卸车和轮速传感器分别将车速信息与轮速信息传递给滑移率计算模块,滑移率计算模块将计算得到的和传递给模糊控制器和PID控制器,模糊控制器将解得的三个控制参数传递给PID控制器,PID控制器将计算得到的制动压力反馈给矿用自卸车的轮缸,调节输出的轮缸压力来调整车轮转速,实现矿车紧急制动时稳定,精确的车轮防抱死控制。本发明的优点是解决了无人驾驶矿用自卸车紧急制动时的打滑问题,保证对车轮滑移率较高的控制精度。
Unmanned mining dump truck ABS control method based on fuzzy PID
一种基于模糊PID的无人驾驶矿用自卸车ABS控制方法
2023-09-19
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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