露天矿无人驾驶自卸车横-纵向协同控制研究

TD57; 露天矿无人驾驶自卸车面临道路等级低且坡道弯道多、车辆载质量大且变化范围宽等恶劣运输工况,现有车辆运动控制策略多面向普通道路环境,无法直接将现有车辆控制策略应用于矿山自卸车.针对上述问题,提出了一种基于预瞄误差与分层反馈的露天矿无人驾驶自卸车横-纵向协同控制系统.横向控制以线性二次型调节器(LQR)为基础,运用前馈控制器降低稳态误差,采用模糊控制器实现自适应调整预瞄距离,以提高路径跟踪控制精度;纵向控制建立分层反馈式纵向速度控制器,分别采用模型预测控制和模糊PID反馈控制,并建立车辆驱动及制动逆向模型,降低自卸车载质量与道路坡度改变对纵向速度追踪的影响.仿真结果表明:①车辆实际速度和...

Full description

Saved in:
Bibliographic Details
Published in工矿自动化 Vol. 50; no. 10; pp. 68 - 79
Main Authors 潘国宇, 鲍久圣, 胡德平, 邹学耀, 阴妍, 王茂森, 朱晨钟, 张磊, 杨瑞
Format Journal Article
LanguageChinese
Published 中国矿业大学 机电工程学院,江苏 徐州 221116%徐州徐工重型车辆有限公司,江苏 徐州 221112 2024
Subjects
unmanned driving
lateral-longitudinal coordinated control
lateral motion control
露天矿自卸车
纵向速度控制
无人驾驶
横向运动控制
longitudinal speed control
横-纵向协同控制
open-pit mine dump truck
Online AccessGet full text
ISSN1671-251X
DOI10.13272/j.issn.1671-251x.2024070017

Cover

Abstract TD57; 露天矿无人驾驶自卸车面临道路等级低且坡道弯道多、车辆载质量大且变化范围宽等恶劣运输工况,现有车辆运动控制策略多面向普通道路环境,无法直接将现有车辆控制策略应用于矿山自卸车.针对上述问题,提出了一种基于预瞄误差与分层反馈的露天矿无人驾驶自卸车横-纵向协同控制系统.横向控制以线性二次型调节器(LQR)为基础,运用前馈控制器降低稳态误差,采用模糊控制器实现自适应调整预瞄距离,以提高路径跟踪控制精度;纵向控制建立分层反馈式纵向速度控制器,分别采用模型预测控制和模糊PID反馈控制,并建立车辆驱动及制动逆向模型,降低自卸车载质量与道路坡度改变对纵向速度追踪的影响.仿真结果表明:①车辆实际速度和期望速度误差在 2%以内,说明自卸车在空载下坡与满载上坡 2种工况下的速度跟踪效果能够满足要求.②由于横-纵向协同控制能够针对路径曲率的不同实时调节车辆速度,在 2种工况下,自卸车横-纵向协同控制器相比于单一横向控制都获得了更高的路径跟踪精度,同时也提高了自卸车的操纵稳定性.实验结果表明:①空载下坡时的横向误差峰值为 0.019 9 m,方向误差峰值为 0.184 0 rad,误差增大均发生在弯道处,但误差波动范围较小,能够保证试验车对期望路径的跟踪.②负载上坡时的横向误差峰值为0.0168 m,方向误差峰值为0.0714 rad,误差变化趋势与空载下坡试验相反,但误差仍在合理范围内,试验车的跟踪效果良好.③2个误差峰值均小于空载下坡试验,验证了不同速度对横向控制精度的影响规律.
AbstractList TD57; 露天矿无人驾驶自卸车面临道路等级低且坡道弯道多、车辆载质量大且变化范围宽等恶劣运输工况,现有车辆运动控制策略多面向普通道路环境,无法直接将现有车辆控制策略应用于矿山自卸车.针对上述问题,提出了一种基于预瞄误差与分层反馈的露天矿无人驾驶自卸车横-纵向协同控制系统.横向控制以线性二次型调节器(LQR)为基础,运用前馈控制器降低稳态误差,采用模糊控制器实现自适应调整预瞄距离,以提高路径跟踪控制精度;纵向控制建立分层反馈式纵向速度控制器,分别采用模型预测控制和模糊PID反馈控制,并建立车辆驱动及制动逆向模型,降低自卸车载质量与道路坡度改变对纵向速度追踪的影响.仿真结果表明:①车辆实际速度和期望速度误差在 2%以内,说明自卸车在空载下坡与满载上坡 2种工况下的速度跟踪效果能够满足要求.②由于横-纵向协同控制能够针对路径曲率的不同实时调节车辆速度,在 2种工况下,自卸车横-纵向协同控制器相比于单一横向控制都获得了更高的路径跟踪精度,同时也提高了自卸车的操纵稳定性.实验结果表明:①空载下坡时的横向误差峰值为 0.019 9 m,方向误差峰值为 0.184 0 rad,误差增大均发生在弯道处,但误差波动范围较小,能够保证试验车对期望路径的跟踪.②负载上坡时的横向误差峰值为0.0168 m,方向误差峰值为0.0714 rad,误差变化趋势与空载下坡试验相反,但误差仍在合理范围内,试验车的跟踪效果良好.③2个误差峰值均小于空载下坡试验,验证了不同速度对横向控制精度的影响规律.
Abstract_FL Open-pit mine unmanned dump trucks face harsh transportation conditions,such as low-grade roads with numerous ramps and curves,as well as heavy and highly variable loads.Most existing vehicle motion control strategies are designed for conventional road environments,making them unsuitable for direct application to mine dump trucks.To address these issues,a lateral-longitudinal coordinated control system based on preview error and layered feedback was proposed for unmanned open-pit mine dump trucks.The lateral control was based on a linear quadratic regulator(LQR)and employed a feedforward controller to reduce steady-state errors,while a fuzzy controller was used to adaptively adjust the preview distance,thereby improving path tracking accuracy.The longitudinal control established a layered feedback longitudinal speed controller,which used model predictive control and fuzzy proportional-integral-differential(PID)feedback control.In addition,an inverse model for vehicle driving and braking was established to minimize the impact of load and road gradient changes on longitudinal speed tracking.Simulation results indicated that:①The error between the actual speed and the desired speed was within 2%,demonstrating that the speed tracking performance of the dump truck could meet requirements under both empty downhill and fully loaded uphill conditions.②Due to the lateral-longitudinal coordinated control's ability to adjust vehicle speed in real time based on varying road curvature,the coordinated controller achieved higher path tracking accuracy compared to single lateral control in both operating conditions,while also enhancing vehicle maneuverability and stability.Laboratory test results showed that:①The peak lateral error during empty downhill runs was 0.0199 m,and the peak direction error was 0.1840 rad.Both errors increased at curves,but their fluctuations were minimal,ensuring that the test vehicle effectively tracked the desired path.②During loaded uphill runs,the peak lateral error was 0.0168 m,and the peak direction error was 0.0714 rad.The error trends were opposite to those observed in empty downhill tests,but the errors remained within acceptable limits,resulting in good path tracking performance.③Both peak errors were lower compared to those in empty downhill tests,which validated the effect of varying speeds on lateral control accuracy.
Author 张磊
胡德平
王茂森
朱晨钟
邹学耀
杨瑞
阴妍
潘国宇
鲍久圣
AuthorAffiliation 中国矿业大学 机电工程学院,江苏 徐州 221116%徐州徐工重型车辆有限公司,江苏 徐州 221112
AuthorAffiliation_xml – name: 中国矿业大学 机电工程学院,江苏 徐州 221116%徐州徐工重型车辆有限公司,江苏 徐州 221112
Author_FL HU Deping
YIN Yan
BAO Jiusheng
PAN Guoyu
ZHANG Lei
YANG Rui
ZOU Xueyao
ZHU Chenzhong
WANG Maosen
Author_FL_xml – sequence: 1
  fullname: PAN Guoyu
– sequence: 2
  fullname: BAO Jiusheng
– sequence: 3
  fullname: HU Deping
– sequence: 4
  fullname: ZOU Xueyao
– sequence: 5
  fullname: YIN Yan
– sequence: 6
  fullname: WANG Maosen
– sequence: 7
  fullname: ZHU Chenzhong
– sequence: 8
  fullname: ZHANG Lei
– sequence: 9
  fullname: YANG Rui
Author_xml – sequence: 1
  fullname: 潘国宇
– sequence: 2
  fullname: 鲍久圣
– sequence: 3
  fullname: 胡德平
– sequence: 4
  fullname: 邹学耀
– sequence: 5
  fullname: 阴妍
– sequence: 6
  fullname: 王茂森
– sequence: 7
  fullname: 朱晨钟
– sequence: 8
  fullname: 张磊
– sequence: 9
  fullname: 杨瑞
BookMark eNrjYmDJy89LZWBQMTTQMzQ2MjfSz9LLLC7O0zM0MzfUNTI1rNAzMjAyMTA3MDA0Z2HghAlHcDDwFhdnJhmYGhhZGJoamnIyWL2cs-npkpXP5-9_Nn3Bk127Xq7c93Llthftq5727nixd9mzFat0n-_a-nTCxKe9_U8n9DzrW_60Y9vzBVOer9zGw8CalphTnMoLpbkZ1NxcQ5w9dMsT89IS89Ljs_JLi_KAMvG52VUpGSAXGRoYGFgYE60QANrZV9U
ClassificationCodes TD57
ContentType Journal Article
Copyright Copyright © Wanfang Data Co. Ltd. All Rights Reserved.
Copyright_xml – notice: Copyright © Wanfang Data Co. Ltd. All Rights Reserved.
DBID 2B.
4A8
92I
93N
PSX
TCJ
DOI 10.13272/j.issn.1671-251x.2024070017
DatabaseName Wanfang Data Journals - Hong Kong
WANFANG Data Centre
Wanfang Data Journals
万方数据期刊 - 香港版
China Online Journals (COJ)
China Online Journals (COJ)
DatabaseTitleList
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
DocumentTitle_FL Research on lateral-longitudinal coordinated control of unmanned dump trucks in open-pit mine
EndPage 79
ExternalDocumentID mkzdh202410008
GrantInformation_xml – fundername: (江苏省科技成果转化专项资金项目); (徐州市重点研发计划资助项目); (江苏高校优势学科建设工程资助项目)
  funderid: (江苏省科技成果转化专项资金项目); (徐州市重点研发计划资助项目); (江苏高校优势学科建设工程资助项目)
GroupedDBID 2B.
4A8
92I
93N
ALMA_UNASSIGNED_HOLDINGS
GROUPED_DOAJ
PSX
TCJ
ID FETCH-wanfang_journals_mkzdh2024100083
ISSN 1671-251X
IngestDate Thu May 29 04:04:26 EDT 2025
IsPeerReviewed true
IsScholarly true
Issue 10
Keywords unmanned driving
lateral-longitudinal coordinated control
lateral motion control
露天矿自卸车
纵向速度控制
无人驾驶
横向运动控制
longitudinal speed control
横-纵向协同控制
open-pit mine dump truck
Language Chinese
LinkModel OpenURL
MergedId FETCHMERGED-wanfang_journals_mkzdh2024100083
ParticipantIDs wanfang_journals_mkzdh202410008
PublicationCentury 2000
PublicationDate 2024
PublicationDateYYYYMMDD 2024-01-01
PublicationDate_xml – year: 2024
  text: 2024
PublicationDecade 2020
PublicationTitle 工矿自动化
PublicationTitle_FL Industry and Mine Automation
PublicationYear 2024
Publisher 中国矿业大学 机电工程学院,江苏 徐州 221116%徐州徐工重型车辆有限公司,江苏 徐州 221112
Publisher_xml – name: 中国矿业大学 机电工程学院,江苏 徐州 221116%徐州徐工重型车辆有限公司,江苏 徐州 221112
SSID ssib050281515
ssib036434532
ssib002258372
ssib051371899
ssj0002912225
ssib001105046
ssib001050614
ssib006564368
Score 4.6795664
Snippet TD57;...
SourceID wanfang
SourceType Aggregation Database
StartPage 68
Title 露天矿无人驾驶自卸车横-纵向协同控制研究
URI https://d.wanfangdata.com.cn/periodical/mkzdh202410008
Volume 50
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnR1NaxQxNNQKogfxE7_toc9LmTpfmSTeMtMsxYOnCr2V3XbXQnEFbUH6B_RgtYLgRbAHUbdHwSIF9c-43fZf-F4yMxutWCssQ-bl5X3uJi9v88HYeEY3FyfhQhC2WilOUDgPlGxGAU_arVSIDo5gdpXvnWz6bnp7ls-OjEbeqqWV5dbk_Oof95X8j1cRhn6lXbKH8GxNFAFYRv_iEz2Mz3_yMRgFqoA8BsNBp6AVGAGqAXkDTAZKgA7BpJBr-iAyIuSmKmRgJEjE0dRcTkEuCZJPgc6ouZZYFRBFas8JSYWgohJbNkqILAhbGtDCVklL2vJWqS0QMz8KJrQc4dwT1xdFE28qFKDqzCExQdmUrVE5lUlrA8OhlDRDY6BwpLQC6YQuQCdDFGSUgLZaoC1yKzPi5olPRcYEI_rOGpJWhLjLoKocSTzMjlp2knCHotWK2SqlKxeJmuqE9VFhXSPIVM7GtWHQBjL3ZEBfo-Ni_FFYU0TEwFgc2Zgo1UF3OBLKTMQ466acCd9f9zuEGCpygHQqGMu5_i5IQpZZKa9UpSyuORpZF7bQIE0PJZ2Xc44yEQUYBs_6g6Y7LbjqHEJvCHS3JJXBlLsoaN8wncQituM0MZisGDyeJN-FtBJCDMOTetHo_aXVhUXCoL-k5BF2NBYi4l4WxWU4eJj5JxYSwD9BL-Yy8baK43SG7mCo3hN8S_lwqzXH8JtC_vo9SjCYK2fwFOzFKqKMCaV1KjMdY-OVjjf_oqHdJdjtNLv3vIB25hQ7Wc5Ex7TrVk6zkdXFM-yEdz7pWXZr782n_rve4O33ndcbP7a393rf9npbu082-2tfdr--3_m4GQy2P_fXX_bXXvTXn-08_9B_ujXYeDXobZ1jNxpmppgOSu5zZYf2aO5XAyfn2Wj3Qbd9gY0tdERHJWmGvXeSNptcRfOt-XYapZ2wkzYzfpFdP4DYpQMxLrPjVHbZzStsdPnhSvsqxvvLrWvWwz8BUoy2QQ
linkProvider Directory of Open Access Journals
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=%E9%9C%B2%E5%A4%A9%E7%9F%BF%E6%97%A0%E4%BA%BA%E9%A9%BE%E9%A9%B6%E8%87%AA%E5%8D%B8%E8%BD%A6%E6%A8%AA-%E7%BA%B5%E5%90%91%E5%8D%8F%E5%90%8C%E6%8E%A7%E5%88%B6%E7%A0%94%E7%A9%B6&rft.jtitle=%E5%B7%A5%E7%9F%BF%E8%87%AA%E5%8A%A8%E5%8C%96&rft.au=%E6%BD%98%E5%9B%BD%E5%AE%87&rft.au=%E9%B2%8D%E4%B9%85%E5%9C%A3&rft.au=%E8%83%A1%E5%BE%B7%E5%B9%B3&rft.au=%E9%82%B9%E5%AD%A6%E8%80%80&rft.date=2024&rft.pub=%E4%B8%AD%E5%9B%BD%E7%9F%BF%E4%B8%9A%E5%A4%A7%E5%AD%A6+%E6%9C%BA%E7%94%B5%E5%B7%A5%E7%A8%8B%E5%AD%A6%E9%99%A2%2C%E6%B1%9F%E8%8B%8F+%E5%BE%90%E5%B7%9E+221116%25%E5%BE%90%E5%B7%9E%E5%BE%90%E5%B7%A5%E9%87%8D%E5%9E%8B%E8%BD%A6%E8%BE%86%E6%9C%89%E9%99%90%E5%85%AC%E5%8F%B8%2C%E6%B1%9F%E8%8B%8F+%E5%BE%90%E5%B7%9E+221112&rft.issn=1671-251X&rft.volume=50&rft.issue=10&rft.spage=68&rft.epage=79&rft_id=info:doi/10.13272%2Fj.issn.1671-251x.2024070017&rft.externalDocID=mkzdh202410008
thumbnail_s http://utb.summon.serialssolutions.com/2.0.0/image/custom?url=http%3A%2F%2Fwww.wanfangdata.com.cn%2Fimages%2FPeriodicalImages%2Fmkzdh%2Fmkzdh.jpg