Study of Hydraulic Steering Process for Intelligent Autonomous Articulated Vehicle

Intelligent autonomous articulated vehicles (IAAVs), the most important transportations of intelligent mining system, are the future direction of mining industry. Though it could realize the unmanned drive, without supports of hydraulic steering process analyses and vehicle dynamic researches, there are no references for the IAAVs to adjust the steering angle in certain driving error. It still has to check the signal from the angle sensor repeatedly to track the planned path in the working process, which lead to the low control accuracy. In this paper, the theories of hydraulic steering process and vehicle model will be developed for the vehicle intelligent control with the analyses of road and tire characteristics based on the principle of least resistance. With the vehicle model, the relationships between steering wheel angle and vehicle steering angle, the motion trajectory, the force of tire, and steering system will be conducted, which are the most important reference for the path planning and tracking of IAAVs. Meanwhile, some problems that produce motion fluctuation are performed. Under these discussions of control problems and steering theories application on intelligent control, the methods considering multi-factors and double-MPC algorithm for IAAVs will be proposed to improve its maneuverability.