Speed following control method for unmanned electrically-driven mine car

Abstract

The invention discloses a speed following control method for an unmanned electrically-driven mine car, which comprises a planning module, a control module and a positioning module, and comprises the following steps: S1, outputting a planned acceleration and a planned speed by the planning module, and calculating a target acceleration according to the planned acceleration, the planned speed and the current speed of the mine car; S2, calculating the pitch angle of the ramp according to the pose information output by the positioning module; S3, calculating vehicle resistance and calculating target traction force by the control module according to the Newton second law; and S4, according to the target traction force F, in combination with vehicle speed information, performing table look-up on the motor external characteristic curve / generator external characteristic curve, and obtaining a vehicle accelerator / electric brake control instruction through calculation. The method has the advantages that the control instruction is more accurate, the robustness is high, and various complex working conditions can be well adapted.

Description

Technical field[0001]The present invention relates to a speed follow-up control method of a driverless electric drive mine vehicle, and more particularly to a driver-driven mine speed follow-up control method for calculating the control amount of a motor external characteristic curve.Background technique[0002]Mining trucks (hereinafter referred to as the mine car) is a heavy dump truck used in the open-air mine to accompany the rock and soil and the mine transportation task. Its work is short, carrying heavy load, commonly used large shovel or hydraulic shovel To and from the mining point and unloading point.[0003]The drive system of the electric drive mine car is generally a series powered system for engine + generator + drive motor + brake resistance, and has two braking methods for electric braking and mechanical braking. Mechanical braking and normal common car brakes are similar, and it is braked with the brake disc. The principle of electrical brakes and the principle of braki...

AI Technical Summary

Problems solved by technology

[0004] Due to the heavy weight of the mine car, the strong nonlinearity of the power system, and the complex operating conditions, the existing technical solutions usually directly convert the control amount calculated by the longitudinal control algorithm into the target throttle control amount and electric brake control amount in a simple and linear manner. Low accuracy and poor adaptability

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