矿用电动轮自卸车的差速转向控制策略研究  

Research on Differential Steering Control Strategy of Mine Electric Wheel Dump Truck

作　　者：武龙星 

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074

出　　处：《煤矿机械》2016年第7期50-53,共4页Coal Mine Machinery

摘　　要：结合车辆的前后轮反向转动差速转向模型,提出了一种基于阿克曼转向和神经网络相结合的差速转向控制策略。利用矿用电动车的内外侧车轮转速进行仿真验证和控制研究,通过仿真验证结果表明:该控制算法能够使矿用电动车辆在露天矿山复杂、恶劣的环境要求下获得较小的转向半径,对车辆的紧急避障等性能的实现有一定的辅助作用,特别适合中、低速的矿用电动车辆的差速转向控制。Combined with the vehicle front and rear wheels reverse rotation difference speed steering model,puts forward a based on Ackerman steering and neural network combination of differential steering control strategy. The mine electric vehicle inner and outer side wheel speed control and simulated, verified by simulation and the results show： the control algorithm can make the mine electric vehicles in open pit mines complex and harsh environmental requirements of smaller turning radius, has certain auxiliary function realization of vehicle emergency obstacle avoidance performance, especially suitable for low speed motorized vehicle speed steering control.

关 键 词：矿用电动车辆 差速转向 阿克曼定理 神经网络 

分 类 号：U469.4[机械工程—车辆工程]