The Design And Research On Control System Of Heavy-duty Electrical Wheels Autonomous Dump Truck

Heavy-duty Electrical Wheels Autonomous Dump Truck is the deal conveyance tool in the mine mountain of ten million ton per year and the construct engineering of large water with the high efficiency, the great carrying capacity and the good economy. But the control system of Heavy-duty Electrical Wheels Autonomous Dump Truck almost depends on the foreign companies though our country has already can produce the Heavy-duty Electrical Wheels Autonomous Dump Truck. Owing to this, the control system of Heavy-duty Electrical Wheels Autonomous Dump Truck has been designed again which makes use of the high performance DSP , modifies the shortcoming of import ones, raises the function of the control system and has the independent intelligent property .On this paper, the development, the electric transmission system, hardware design of excitation control system and the control strategy of Heavy-duty Electrical Wheels Autonomous Dump Truck are introduced in firstly. Because the using environment of product is very poor, the input and output ports of the digital data is insulated by photoelectric switch. The output ports of digital data increases output power for enhancing driving capability. The real-time process of digital and analog data depends on the strongly process capability of DSP.Excitation control is the core of electric control system in Heavy-duty Electrical Wheels Autonomous Dump Truck, this paper discuss excitation control Algorithm at present: The PID regulator, The linearity optimization control Algorithm (LOEC) and The fuzzy adaptation PID Algorithm optimized by PSO. After discuss the steps of PSO optimization, this Algorithm is emulated on object of excitation control system and 2s time-delay; and the result indicate that this Algorithm is better in control capability than the general fuzzy PID arithmetic.Finally, the whole electric control system has been debugged on the model of Heavy-duty Electrical Wheels Autonomous Dump Truck. This model is composed of a synchronous generator and two DC motor. The debug result indicates that the hardware system can satisfy the control request of the Heavy-duty Electrical Wheels Autonomous Dump Truck completely.