Reversing control method for unmanned mine car

Abstract

The invention provides a reversing control method for an unmanned mine car. The reversing control method comprises the following steps: step 1, acquiring path information of vehicle driving through a planning module, acquiring position information of a vehicle through a positioning module, and calculating a nearest point; step 2,cutting off path information according to the nearest point, carrying out coordinate system conversion through the Euler angle of the positioning module and the position information of a positioning center, and outputting path information based on a vehicle body coordinate system; step 3, calculating a front wheel deflection angle through an original pure tracking method according to the path information based on the vehicle body coordinate system; step 4, designing a penalty function according to the transverse error of the nearest point and the front wheel deflection angle calculated through original pure tracking, and finally outputting a control rotation angle; and step 5, steering the vehicle according to the control turning angle calculated in the step 4. According to the reversing control method for the unmanned mine car, a longitudinal control module of an integral saturation resisting PI controller based on time limitation is designed, and stable control over the car speed can be guaranteed; and a transverse control module with penalty function constraints added on the basis of a pure tracking method is improved, transverse control errors can be reduced, and the convergence speed can be increased.

Description

technical field [0001] The invention belongs to the field of unmanned driving control, and in particular relates to a reversing control method of an unmanned mining vehicle. Background technique [0002] At present, there are mainly two methods of coal mining: underground mining and open-pit mining. The difficulty and risk factor of open-pit mining are relatively low, while underground mining uses shafts (vertical shaft development, inclined shaft development, flat tunnel development or comprehensive development, etc.) and underground roadways. system, resulting in relatively higher technical difficulty and danger. Most coal resources are buried underground, and underground mining accounts for a higher proportion. Among them, underground mining transportation is divided into trackless transportation and rail transportation. Trackless transportation refers to the transport of people and materials by vehicles through underground tunnels. The road environment of the undergrou...

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Problems solved by technology

[0002] At present, there are mainly two methods of coal mining: underground mining and open-pit mining. The difficulty and risk factor of open-pit mining are relatively low, while underground mining uses shafts (vertical shaft development, inclined shaft development, flat tunnel development or comprehensive development, etc.) and underground roadways. system, leading to relatively higher technical difficulty and danger

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