The invention discloses an unmanned mining dump truck TCS control method based on active-disturbance-rejection control, and the method comprises the steps: obtaining the real-time wheel speed and vehicle speed through a wheel speed sensor disposed on a wheel and a vehicle inertial navigation system, designing an active-disturbance-rejection ADRC controller, carrying out the parameter setting through a bandwidth method, and obtaining the real-time vehicle speed. And the solved control law is used as a driving torque signal to be transmitted to a throttle valve control unit of the unmanned mine car, so that the opening degree of a throttle valve is adjusted, and the traction force during starting of the unmanned mine car is controlled. The method has the advantages that the mine car can be prevented from slipping out of control during starting, the service life of tires is prolonged, and quick starting is realized while the safety performance of the mine car is improved.

    本发明公开一种基于自抗扰控制的无人驾驶矿用自卸车TCS控制方法,通过安装在车轮的轮速传感器与车辆惯性导航系统得到实时的轮速与车速,设计自抗扰ADRC控制器,通过带宽法进行参数整定,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,从而调整节气门开度,控制无人矿车起动时的牵引力。本发明的优点是能够防止矿车起步打滑失控,延长轮胎使用寿命,提高车辆安全性能的同时实现快速起步。


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    Title :

    Unmanned mining dump truck TCS control method based on active disturbance rejection control


    Additional title:

    一种基于自抗扰控制的无人驾驶矿用自卸车TCS控制方法


    Contributors:
    WU GUANGQIANG (author) / JIANG SHUHUAI (author) / MAO LIBO (author) / ZHANG DONG (author) / CONG GUOQING (author)

    Publication date :

    2024-04-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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