基于5G通信信道自适应均衡的无人驾驶矿卡远程控制方法  

Remote Control Method of Unmanned Mining Trucks Based on Adaptive Equalization of 5G Communication Channel

作　　者：咸金龙 戚红建 孙茂森 周玉宝 XIAN Jinlong;QI Hongjian;SUN Maosen;ZHOU Yubao(Huaneng Information Technology Co.,Ltd.,Qingdao 266000,China;Huaneng Yimin Coal Electricity Co.,Ltd.,Hulunbuir 021134,China)

机构地区：[1]华能信息技术有限公司,山东青岛266000 [2]华能伊敏煤电有限责任公司,内蒙古呼伦贝尔021134

出　　处：《机械与电子》2025年第1期58-62,73,共6页Machinery & Electronics

基　　金：国家能源局综合司项目(7-1-02-J-2#3#4#5#)。

摘　　要：在智慧矿山中,无人驾驶矿用卡车受困于现场复杂的环境干扰,远程控制存在较大难度。针对远程控制效果不佳的问题,结合北斗定位及5G通信技术,提出一种针对无人驾驶矿用卡车的远程控制方法。在北斗卫星导航支持下,利用最小二乘法求解矿卡位置;利用自适应滤波器对5G通信远程控制指令信道进行自适应均衡处理;设计无人驾驶矿卡远程控制系统架构,基于滑模控制器实现无人驾驶矿卡远程控制。在采矿区内进行实地测试,根据定位、通信和控制的测试结果可知:远程控制的三维坐标平均绝对偏移量仅有0.03928 m、0.04260 m、0.03345 m,定位精度较高,通信状态能够稳定在低丢包量、高吞吐量的水平,控制指令响应迅速且执行偏差较小,可以有效控制电机的电压输出,实现对矿卡动力输出的精确调控。In smart mining,unmanned mining trucks are constrained by complex environmental disturbances on site,making remote control difficult.Aiming at the problem of poor remote control effect,a remote control method for unmanned mining trucks is proposed by combining Beidou positioning and 5G communication technology.With the support of Beidou satellite navigation,the least squares method is used to solve the position of mining cards;adaptive filters are adopted to perform adaptive equalization processing on the 5G communication remote control command channel;a remote control system architecture for unmanned mining trucks is designed to realize the remote control of unmanned mining trucks based on sliding mode controllers.Field testing is conducted in the mining area and the results of positioning,communication,and control tests show that the average absolute offset of the remote control three-dimensional coordinates is only 0.03928 m,0.04260 m,and 0.03345 m,which represents a high positioning accuracy.The communication status is able to be stabilized in the condition of low packet loss and high throughput.The control command response is fast and the execution deviation is small,which can effectively control the voltage output of the motor and achieve precise control of the power output of the mining trucks.

关 键 词：无人驾驶矿卡 北斗卫星导航系统 定位解算 5G通信 信道自适应均衡 远程控制 

分 类 号：TD67[矿业工程—矿山机电]