The invention discloses an unmanned mining dump truck TCS control method based on sliding mode control, and the method comprises the steps: enabling a mining dump truck and a wheel speed sensor to transmit vehicle speed information and wheel speed information to a slip rate calculation module, enabling the slip rate calculation module to transmit a slip rate, a slip rate error and a slip rate change rate, which are obtained through calculation, to a sliding mode controller; the sliding mode controller solves a control law of the sliding mode controller according to the designed sliding mode surface and the reaching law, the solved control law serves as a driving torque signal and is transmitted to a throttle valve control unit of the unmanned mine car, the throttle valve control unit adjusts the opening degree of a throttle valve after receiving the driving torque signal, and the driving torque of the mine car is controlled; therefore, the traction force during starting of the unmanned mine car is controlled. The method has the advantage that the driving stability is improved.
本发明公开一种基于滑模控制的无人驾驶矿用自卸车TCS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转率计算模块,滑转率计算模块将计算得到的滑转率、滑转率误差及滑转率变化率传递给滑模控制器,滑模控制器根据设计的滑模面和趋近律,求解出滑模控制器控制律,将解得的控制律作为驱动力矩信号传递给无人矿车的节气门控制单元,节气门控制单元收到驱动力矩信号后调整节气门开度,控制矿车的驱动力矩,从而控制无人矿车起动时的牵引力。本发明的优点是提高了行驶稳定性。
Unmanned mining dump truck TCS control method based on sliding mode control
一种基于滑模控制的无人驾驶矿用自卸车TCS控制方法
2023-11-03
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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