Tracking And Steering Stability Control Of Underground Mine Articulated Vehicle Based On MPC

Nowadays,it has been observed that Chinese mining industry has gradually been converted from “traditional industry” to “technological industry”,and it follows the development strategies for Chinese mining industry to realize the “intelligence” and“unmanned technology” of the transportation system in mines.articulated vehicles now have been widely applied for transportation in mining industry due to its good flexibility,its path tracking controlling and stability controlling technologies are of critical significance to realize unmanned transported vehicles in mines.However,it may cause large path deviation to drive the vehicles in narrow spaces or on the rough road under complex mining environment,and even result in dangerous problems of yawing or rollover.The thesis focuses on the autonomous steering control method of mine articulated vehicle,aiming to improve the path tracking performance,low-speed handling and high-speed lateral stability of the vehicle in the mine environment.The main contents of this research are as follows:Firstly,a 3-DOF vehicle model was established by analyzing the motion characteristics of the articulated vehicle,such as side deflection,yaw and roll.The key parameters of the model were identified by Particle Swarm Optimization(PSO).The output responses of the state variables of the vehicle model and the Truck Sim model were compared to verify the accuracy of the model.Based on the established vehicle model,an active steering controller design method based on Linear Quadratic Regulator(LQR)was proposed,and the path-tracking performance,maneuverability and lateral stability of articulated vehicles were verified.Finally,an integrated steering controller design method is proposed by introducing the driver preview Model and combining with Model Predictive Control(MPC).The simulation test of articulated vehicle in underground environment shows that the output of the model is very consistent with that of Trucksim vehicle model at any speed and steering wheel angle.Compared with the case without control,the LQR steering controller not only improves the vehicle's path tracking performance,but also improves the vehicle's low-speed handling and high-speed lateral stability.In addition,the improved MPC based integrated steering controller not only improves the low-speed handling and high-speed stability of the vehicle to a more ideal range,but also reduces the centroid roll angle of the articulated vehicle,greatly reduces the rollover risk,and improves the safety and reliability of the vehicle under the mine.