地下铲运机自主行驶过程中转向死区的研究
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摘要
地下铲运机依靠车载控制器输出的指令控制行驶方向,实现自主行驶。虽然控制器输出是线性的,但是地下铲运机动作却不是,当输出值过小,地下铲运机不转向,存在转向死区现象。对此开展研究,通过对死区的理论分析,试验测试,优化地下铲运机的控制算法,进而减小地下铲运机在行驶过程中死区的影响,提升自主行驶的控制效果。
LHD can run autonomously,which relies oncontrol instructions to adjust the travelling directions during travelling process.The steering action of LHD is nonlinear although the output value of the controller is linear.When the output value is too low,the LHD can't change the travelling directions autonomously.This phenomenon is called the dead-zone.This paper highlighted the key challenges in dead-zone.Control algorithm can be optimized by the study on dead-zone.Theoretical analysis and experimental tests of the dead-zone were used to optimize control algorithm.The result of experiment indicated that the optimized control algorithm can reduce the dead-zone detrimental effects and improve control effect of running autonomously.
LHD can run autonomously,which relies oncontrol instructions to adjust the travelling directions during travelling process.The steering action of LHD is nonlinear although the output value of the controller is linear.When the output value is too low,the LHD can't change the travelling directions autonomously.This phenomenon is called the dead-zone.This paper highlighted the key challenges in dead-zone.Control algorithm can be optimized by the study on dead-zone.Theoretical analysis and experimental tests of the dead-zone were used to optimize control algorithm.The result of experiment indicated that the optimized control algorithm can reduce the dead-zone detrimental effects and improve control effect of running autonomously.
引文
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[2]李恒通,顾洪枢,石峰,等.地下铲运机的改进型节能换挡策略研究[J].有色金属(矿山部分),2014,66(1):39-42.
[3]李恒通,顾洪枢,石峰,等.铲运机换挡策略研究[J].有色金属(矿山部分),2013,65(6):29-31.
[4]张兴友.一种液压伺服系统中阀门死区的控制方法[J].制造业自动化,2012,34(20):135-137.
[5]郭凌汾,黄海东,秦四成,等.铰接式车辆静态转向阻力矩分析[J].农业机械学报,1995,26(1):23-28.
[6]高建明,王同建,徐进勇,等.铰接式装载机转向运动学动力学仿真与试验研究[J].建筑机械,2005(4):63-66.
[7]LI Jianguo,ZHAN Kai.Intelligent Mining Technology for an Underground Metal Mine Based on Unmanned Equipment[J].Engineering,2018(4):381-391.
[8]石峰,郭鑫,龙智卓,等.地下矿用车辆无人驾驶目标路径规划方法研究[J].矿冶,2018,27(4):89-92.