The invention discloses an unmanned mining dump truck ABS control method based on active disturbance rejection control. The method comprises the steps that a wheel speed sensor is arranged to monitor and record wheel speed data in real time; acquiring and recording the speed information of the unmanned vehicle in real time by using a vehicle inertial navigation system; converting a slip rate control target into a specific wheel speed control target by defining the slip rate; designing a linear expansion state observer, and estimating the wheel speed and the total disturbance by using the real-time driving torque and the wheel speed data; linear state error feedback control is designed, and a control law is calculated according to real-time vehicle speed, wheel speed estimation and total disturbance estimation; and the control law obtained through calculation serves as a driving torque signal and is transmitted to a throttle valve control unit of the unmanned mine car, the opening degree of a valve is changed, and ABS control is conducted on the unmanned mine car during braking. According to the method, the advantages of PID are developed by adopting an active-disturbance-rejection control method, the defects of the PID are overcome, engineering implementation is easy, robustness is achieved, and the strong anti-disturbance capability is achieved.

    本发明公开了一种基于自抗扰控制的无人驾驶矿用自卸车ABS控制方法,包括设置轮速传感器实时监测并记录轮速数据;利用车辆惯性导航系统,实时获取并记录无人驾驶车的车速信息;通过定义滑移率,将滑移率控制目标转化为具体的轮速控制目标;设计线性扩张状态观测器,利用实时驱动力矩和轮速数据,对轮速和总扰动进行估计;设计线性状态误差反馈控制,根据实时车速、轮速估计和总扰动估计,计算得出控制律;将计算得到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,改变气门开度,在制动时对无人矿车进行ABS控制。本发明通过采用自抗扰控制方法发扬PID的优势,克服其缺点,容易工程实现,兼具鲁棒性,具有很强的抗扰能力。


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    Title :

    Unmanned mining dump truck ABS 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ABS控制方法


    Contributors:
    HE SHENZHONG (author) / WU ZHIGUO (author) / ZHANG JUN (author) / WANG WENJIE (author)

    Publication date :

    2025-01-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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