| 载重量变化对矿用车轨迹跟踪影响研究 |
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| 引用本文： | 郑戍华,乔亚军,王向周,李守翔,陈冬清.载重量变化对矿用车轨迹跟踪影响研究[J].北京理工大学学报,2021,41(4):403-409. |
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| 作者姓名： | 郑戍华 乔亚军 王向周 李守翔 陈冬清 |
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| 作者单位： | 北京理工大学 自动化学院,北京 100081 |
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| 基金项目： | 科技部国家科技支撑计划资助项目（2014BAF08B06） |
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| 摘 要： | 针对矿用车载重量变化对车辆轨迹跟踪精度的影响，提出了一种与载重量相关的车辆模型，研究了载重量对轮胎侧向力和车辆转向系统的作用.采用粒子群PID控制（PSO-PID）算法优化了不同载重情况下横、纵向控制PID参数，采用转向前馈控制缩短了大质量情况下前轮转向角控制的过渡过程时间.仿真结果表明，与不考虑载重量变化的车辆模型相比，所述矿用车模型轨迹跟踪的精度更高，鲁棒性更强.
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| 关 键 词： | 载重量影响 轮胎侧向力 矿用车模型 轨迹跟踪 |
| 收稿时间： | 2019/12/20 0:00:00 |
Change Load Influence on the Moving Trail Control of Mine Truck |
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| ZHENG Shuhua,QIAO Yajun,WANG Xiangzhou,LI Shouxiang,CHEN Dongqing.Change Load Influence on the Moving Trail Control of Mine Truck[J].Journal of Beijing Institute of Technology(Natural Science Edition),2021,41(4):403-409. |
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| Authors: | ZHENG Shuhua QIAO Yajun WANG Xiangzhou LI Shouxiang CHEN Dongqing |
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| Affiliation: | School of Automation, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | In view of the influence of the change load of mine vehicle on the moving trail control accuracy,a vehicle model correlated with the load was proposed. The effect of the load on the tire lateral force and the vehicle steering system was studied. The PID parameters of the horizontal and vertical control under different load conditions were optimized by the PSO algorithm and the steering feedforward control was used to shorten the transition time of front wheel steering. The simulation results show that,compared with the vehicle model without load,the proposed model can improve the moving trail control accuracy and its robustness. |
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| Keywords: | load influence tire lateral force mine truck model moving trail control |
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