矿用无人运输车辆精准停靠控制算法  

Precise parking control algorithm for mining unmanned transport vehicles

作　　者：张翔宇[1,2] 徐国艳 夏启[1,2] 李涵 徐全耀[3] 蔡明祥 ZHANG Xiangyu;XU Guoyan;XIA Qi;LI Han;XU Quanyao;CAI Mingxiang(Key Laboratory of Special Vehicle Unmanned Transportation Technology Ministry of Industry and Information Technology,Beihang University,Beijing 100191,China;School of Transportation Science and Engineering,Beihang University,Beijing 100191,China;Guoneng Xinjiang Zhundong Energy Co.,Ltd.,Changji 831100,China)

机构地区：[1]北京航空航天大学特种车辆无人运输技术工业和信息化部重点实验室,北京100191 [2]北京航空航天大学交通科学与工程学院,北京100191 [3]国能新疆准东能源有限责任公司,新疆昌吉831100

出　　处：《露天采矿技术》2024年第1期26-31,共6页Opencast Mining Technology

摘　　要：以无人驾驶矿用运输车为平台,开展精准停靠控制试验研究。为尽可能精确地到达期望停靠位置,首先设计距离-速度规划方案,在此基础上提出1种前馈加反馈的执行器开度控制算法;其次,在底层控制中考虑加速度补偿项,并对制动切换逻辑进行优化;最后进行仿真测试和实车试验,通过测试纠正控制参数,避免掉烦琐的系统参数辨识。结果表明:采用精准停靠策略能降低干扰引起的速度波动,优化底层控制逻辑,有效提高停靠精度。The precise parking control experiments and research are conducted using an autonomous mining transport vehicle as the platform.To achieve the desired parking position as accurately as possible,the article first designs a distance-velocity planning scheme.Based on this,the article proposes a feedforward and feedback actuator aperture control algorithm.Additionally,we consider acceleration compensation terms in the low-level control and optimizethe brake switching logic.Subsequently,wecarry out simulation tests and real-world vehicle experiments,and adjustcontrol parameters through the tests,eliminating the need for laborious system parameter identification.The results show that the adoption of a precise docking strategy reduces speed fluctuations caused by disturbances and optimizes the low-level control logic,effectively enhancing parking accuracy.

关 键 词：无人运输 精准停靠 距离-速度规划 误差反馈控制 制动逻辑切换 

分 类 号：TD57[矿业工程—矿山机电]