Research on lateral-longitudinal coordinated control of unmanned dump trucks in open-pit mine
Open-pit mine unmanned dump trucks face harsh transportation conditions, such as low-grade roads with numerous ramps and curves, as well as heavy and highly variable loads. Most existing vehicle motion control strategies are designed for conventional road environments, making them unsuitable for dir...
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| Format: | Article |
| Language: | zho |
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Editorial Department of Industry and Mine Automation
2024-10-01
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| Series: | Gong-kuang zidonghua |
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| Online Access: | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2024070017 |
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| author | PAN Guoyu BAO Jiusheng HU Deping ZOU Xueyao YIN Yan WANG Maosen ZHU Chenzhong ZHANG Lei YANG Rui |
| author_facet | PAN Guoyu BAO Jiusheng HU Deping ZOU Xueyao YIN Yan WANG Maosen ZHU Chenzhong ZHANG Lei YANG Rui |
| author_sort | PAN Guoyu |
| collection | DOAJ |
| description | Open-pit mine unmanned dump trucks face harsh transportation conditions, such as low-grade roads with numerous ramps and curves, as well as heavy and highly variable loads. Most existing vehicle motion control strategies are designed for conventional road environments, making them unsuitable for direct application to mine dump trucks. To address these issues, a lateral-longitudinal coordinated control system based on preview error and layered feedback was proposed for unmanned open-pit mine dump trucks. The lateral control was based on a linear quadratic regulator (LQR) and employed a feedforward controller to reduce steady-state errors, while a fuzzy controller was used to adaptively adjust the preview distance, thereby improving path tracking accuracy. The longitudinal control established a layered feedback longitudinal speed controller, which used model predictive control and fuzzy proportional-integral-differential (PID) feedback control. In addition, an inverse model for vehicle driving and braking was established to minimize the impact of load and road gradient changes on longitudinal speed tracking. Simulation results indicated that: ① The error between the actual speed and the desired speed was within 2%, demonstrating that the speed tracking performance of the dump truck could meet requirements under both empty downhill and fully loaded uphill conditions. ② Due to the lateral-longitudinal coordinated control’s ability to adjust vehicle speed in real time based on varying road curvature, the coordinated controller achieved higher path tracking accuracy compared to single lateral control in both operating conditions, while also enhancing vehicle maneuverability and stability. Laboratory test results showed that: ① The peak lateral error during empty downhill runs was 0.0199 m, and the peak direction error was 0.1840 rad. Both errors increased at curves, but their fluctuations were minimal, ensuring that the test vehicle effectively tracked the desired path. ② During loaded uphill runs, the peak lateral error was 0.0168 m, and the peak direction error was 0.0714 rad. The error trends were opposite to those observed in empty downhill tests, but the errors remained within acceptable limits, resulting in good path tracking performance. ③ Both peak errors were lower compared to those in empty downhill tests, which validated the effect of varying speeds on lateral control accuracy. |
| format | Article |
| id | doaj-art-a5126d2efab04c6c9f1b5c84b7c50eaa |
| institution | Kabale University |
| issn | 1671-251X |
| language | zho |
| publishDate | 2024-10-01 |
| publisher | Editorial Department of Industry and Mine Automation |
| record_format | Article |
| series | Gong-kuang zidonghua |
| spelling | doaj-art-a5126d2efab04c6c9f1b5c84b7c50eaa2024-12-04T01:38:31ZzhoEditorial Department of Industry and Mine AutomationGong-kuang zidonghua1671-251X2024-10-015010687910.13272/j.issn.1671-251x.2024070017Research on lateral-longitudinal coordinated control of unmanned dump trucks in open-pit minePAN Guoyu0BAO Jiusheng1HU Deping2ZOU Xueyao3YIN Yan4WANG Maosen5ZHU Chenzhong6ZHANG Lei7YANG Rui8School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaXuzhou XCMG Heavy Vehicle Co., Ltd., Xuzhou 221112, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaXuzhou XCMG Heavy Vehicle Co., Ltd., Xuzhou 221112, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaOpen-pit mine unmanned dump trucks face harsh transportation conditions, such as low-grade roads with numerous ramps and curves, as well as heavy and highly variable loads. Most existing vehicle motion control strategies are designed for conventional road environments, making them unsuitable for direct application to mine dump trucks. To address these issues, a lateral-longitudinal coordinated control system based on preview error and layered feedback was proposed for unmanned open-pit mine dump trucks. The lateral control was based on a linear quadratic regulator (LQR) and employed a feedforward controller to reduce steady-state errors, while a fuzzy controller was used to adaptively adjust the preview distance, thereby improving path tracking accuracy. The longitudinal control established a layered feedback longitudinal speed controller, which used model predictive control and fuzzy proportional-integral-differential (PID) feedback control. In addition, an inverse model for vehicle driving and braking was established to minimize the impact of load and road gradient changes on longitudinal speed tracking. Simulation results indicated that: ① The error between the actual speed and the desired speed was within 2%, demonstrating that the speed tracking performance of the dump truck could meet requirements under both empty downhill and fully loaded uphill conditions. ② Due to the lateral-longitudinal coordinated control’s ability to adjust vehicle speed in real time based on varying road curvature, the coordinated controller achieved higher path tracking accuracy compared to single lateral control in both operating conditions, while also enhancing vehicle maneuverability and stability. Laboratory test results showed that: ① The peak lateral error during empty downhill runs was 0.0199 m, and the peak direction error was 0.1840 rad. Both errors increased at curves, but their fluctuations were minimal, ensuring that the test vehicle effectively tracked the desired path. ② During loaded uphill runs, the peak lateral error was 0.0168 m, and the peak direction error was 0.0714 rad. The error trends were opposite to those observed in empty downhill tests, but the errors remained within acceptable limits, resulting in good path tracking performance. ③ Both peak errors were lower compared to those in empty downhill tests, which validated the effect of varying speeds on lateral control accuracy.http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2024070017open-pit mine dump truckunmanned drivinglateral motion controllongitudinal speed controllateral-longitudinal coordinated control |
| spellingShingle | PAN Guoyu BAO Jiusheng HU Deping ZOU Xueyao YIN Yan WANG Maosen ZHU Chenzhong ZHANG Lei YANG Rui Research on lateral-longitudinal coordinated control of unmanned dump trucks in open-pit mine Gong-kuang zidonghua open-pit mine dump truck unmanned driving lateral motion control longitudinal speed control lateral-longitudinal coordinated control |
| title | Research on lateral-longitudinal coordinated control of unmanned dump trucks in open-pit mine |
| title_full | Research on lateral-longitudinal coordinated control of unmanned dump trucks in open-pit mine |
| title_fullStr | Research on lateral-longitudinal coordinated control of unmanned dump trucks in open-pit mine |
| title_full_unstemmed | Research on lateral-longitudinal coordinated control of unmanned dump trucks in open-pit mine |
| title_short | Research on lateral-longitudinal coordinated control of unmanned dump trucks in open-pit mine |
| title_sort | research on lateral longitudinal coordinated control of unmanned dump trucks in open pit mine |
| topic | open-pit mine dump truck unmanned driving lateral motion control longitudinal speed control lateral-longitudinal coordinated control |
| url | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2024070017 |
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