The invention discloses an unmanned mine car slip rate control method based on superhelix second-order sliding mode control. The method comprises the following steps: deriving a second-order slip rate system kinetic equation based on a wheel kinetic model; introducing a steepest differential tracker to carry out slip rate differential estimation; converting the second-order slip rate kinetic equation into an error variable form for expression; designing a non-singular sliding mode surface according to a fixed time convergence theorem, and calculating the control rate of second-order sliding mode control based on a superhelix algorithm: issuing a braking torque control signal to a hydraulic braking control unit of the unmanned mine car, and further adjusting the braking pressure of a wheel cylinder. The method has the advantages that the actual slip rate of the wheels is controlled to be close to the target slip rate, the locking phenomenon is prevented when the mine car is braked, and the braking efficiency and safety of the mine car are improved.
本发明公开一种基于超螺旋二阶滑模控制的无人矿车滑移率控制方法,基于车轮动力学模型推导二阶滑移率系统动力学方程;并引入最速微分跟踪器进行滑移率微分估计;将二阶滑移率动力学方程转化为误差变量形式表示;根据固定时间收敛定理设计非奇异滑模面,并基于超螺旋算法计算二阶滑模控制的控制率:将制动力矩控制信号下发给无人驾驶矿车的液压制动控制单元,进而调节轮缸制动压力。本发明的优点是将车轮实际滑移率控制在目标滑移率附近,防止矿车制动时产生抱死现象,提升矿车的制动效能与安全性。
Unmanned mine car slip rate control method based on superhelix second-order sliding mode control and computer system
基于超螺旋二阶滑模控制的无人矿车滑移率控制方法及计算机系统
2025-03-21
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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