The invention relates to an unmanned mine car hill starting control system and a control method thereof for a strip mine area, belongs to the technical field of automatic driving mine car motion control, and improves the adaptive capacity of a vehicle to the environmental condition and the dynamic change vehicle condition of the strip mine area. The control effect of the vehicle during hill starting under the wet and slippery road surface condition is optimized, so that the driving safety and stability of the vehicle are improved; the method can adapt to characteristics of strip mine areas and unmanned mining dump trucks, can adapt to dynamically changing working and vehicle conditions by collecting the torque of the driving motor and the actual driving torque in the actual slope starting process, and reduces subjectivity and manpower cost input during parameter calibration; according to the method, the slope starting expected torque is calculated according to the road and vehicle parameters, the optimal control quantity is obtained, and the driving efficiency is considered on the basis of ensuring the driving safety; according to the method, the slip rate is kept in the optimal interval, the vehicle sliding caused by insufficient longitudinal adhesive force on the wet and slippery road surface is prevented, and the driving safety is ensured.
本发明涉及一种面向露天矿区的无人矿车坡道起步控制系统及其控制方法,属于自动驾驶矿车运动控制技术领域,本发明提升了车辆对露天矿区环境条件及动态变化车况的适应能力,优化车辆在湿滑路面条件下进行坡道起步时的控制效果,进而提高其行驶安全性与稳定性;本发明能够适应露天矿区、无人驾驶矿用自卸车特性,通过采集实际坡起过程中的驱动电机扭矩与实际驱动力矩,可以适应动态变化的工作与车辆状况,减少参数标定时的主观性与人力成本投入;本发明根据道路及车辆参数计算坡起期望转矩,得到最优控制量,在保证行驶安全性的基础上兼顾行驶效率;本发明将滑转率保持在最优区间,防止车辆在湿滑路面因纵向附着力不足导致的溜车,保证行驶安全。
Unmanned mine car hill starting control system for strip mine area and control method of unmanned mine car hill starting control system
面向露天矿区的无人矿车坡道起步控制系统及其控制方法
2025-03-18
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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