Differential Control Strategy Research of Wheeled Electric Drive ADT Mining Truck

Huilai Sun, Liu Pengbo, Yong Wang, Song Yuanyuan, Li Zeying, Yao Guoming
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引用次数: 1

Abstract

: Aiming at the special structure and steering characteristic of wheeled electric-driven articulated underground mining truck, a differential control strategy which takes the equal slip rate as control target was given. The kinematic and dynamic model of electric-driven mining ADT was established and the movement relationship and stress condition of the driving wheels were analyzed during steering. Acceleration sensors in the sample ADT were used to test the actual speed of the vehicle. Results show that the filtered signal has small delay and fast response and can be directly used to estimate the speed. Equal slip rate control strategy is superior to equal torque control strategy because it can make full use of the ground adhesion coefficient and reach reasonable distribution of drive power. Two sides wheel slip rate can be stable -0.08 and sliping situation is avoided in experimental turning. This control strategy has practical effect for reducing tire wear and improving driving power utilization.
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轮式电驱动ADT矿用卡车差动控制策略研究
针对轮式电动铰接式井下矿用汽车的特殊结构和转向特点,提出了以等滑移率为控制目标的差动控制策略。建立了电驱动矿用ADT的运动学和动力学模型,分析了驱动轮在转向过程中的运动关系和受力情况。ADT样品中的加速度传感器用于测试车辆的实际速度。结果表明,滤波后的信号具有延迟小、响应快的特点,可直接用于速度估计。等转矩控制策略可以充分利用地面附着系数,达到驱动功率的合理分配,因此优于等转矩控制策略。双侧轮滑移率稳定在-0.08,避免了实验转弯时的滑移情况。该控制策略对减少轮胎磨损、提高驾驶动力利用率具有实际效果。
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