载重量变化对矿用车轨迹跟踪影响研究

Shuhua Zheng; Yajun Qiao; Xiangzhou Wang; Shouxiang Li; Dongqing Chen

doi:10.15918/j.tbit1001-0645.2019.320

载重量变化对矿用车轨迹跟踪影响研究

Translated title of the contribution: Change Load Influence on the Moving Trail Control of Mine Truck

Shuhua Zheng, Yajun Qiao, Xiangzhou Wang^*, Shouxiang Li, Dongqing Chen

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

Abstract

In view of the influence of the change load of mine vehicle on the moving trail control accuracy, a vehicle model correlated with the load was proposed. The effect of the load on the tire lateral force and the vehicle steering system was studied. The PID parameters of the horizontal and vertical control under different load conditions were optimized by the PSO algorithm and the steering feedforward control was used to shorten the transition time of front wheel steering. The simulation results show that, compared with the vehicle model without load, the proposed model can improve the moving trail control accuracy and its robustness.

Translated title of the contribution	Change Load Influence on the Moving Trail Control of Mine Truck
Original language	Chinese (Traditional)
Pages (from-to)	403-409
Number of pages	7
Journal	Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
Volume	41
Issue number	4
DOIs	https://doi.org/10.15918/j.tbit1001-0645.2019.320
Publication status	Published - Apr 2021

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10.15918/j.tbit1001-0645.2019.320

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title = "载重量变化对矿用车轨迹跟踪影响研究",

abstract = "In view of the influence of the change load of mine vehicle on the moving trail control accuracy, a vehicle model correlated with the load was proposed. The effect of the load on the tire lateral force and the vehicle steering system was studied. The PID parameters of the horizontal and vertical control under different load conditions were optimized by the PSO algorithm and the steering feedforward control was used to shorten the transition time of front wheel steering. The simulation results show that, compared with the vehicle model without load, the proposed model can improve the moving trail control accuracy and its robustness.",

keywords = "Load influence, Mine truck model, Moving trail control, Tire lateral force",

author = "Shuhua Zheng and Yajun Qiao and Xiangzhou Wang and Shouxiang Li and Dongqing Chen",

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T1 - 载重量变化对矿用车轨迹跟踪影响研究

AU - Zheng, Shuhua

AU - Qiao, Yajun

AU - Wang, Xiangzhou

AU - Li, Shouxiang

AU - Chen, Dongqing

PY - 2021/4

Y1 - 2021/4

N2 - In view of the influence of the change load of mine vehicle on the moving trail control accuracy, a vehicle model correlated with the load was proposed. The effect of the load on the tire lateral force and the vehicle steering system was studied. The PID parameters of the horizontal and vertical control under different load conditions were optimized by the PSO algorithm and the steering feedforward control was used to shorten the transition time of front wheel steering. The simulation results show that, compared with the vehicle model without load, the proposed model can improve the moving trail control accuracy and its robustness.

AB - In view of the influence of the change load of mine vehicle on the moving trail control accuracy, a vehicle model correlated with the load was proposed. The effect of the load on the tire lateral force and the vehicle steering system was studied. The PID parameters of the horizontal and vertical control under different load conditions were optimized by the PSO algorithm and the steering feedforward control was used to shorten the transition time of front wheel steering. The simulation results show that, compared with the vehicle model without load, the proposed model can improve the moving trail control accuracy and its robustness.

KW - Load influence

KW - Mine truck model

KW - Moving trail control

KW - Tire lateral force

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ER -

载重量变化对矿用车轨迹跟踪影响研究

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