Research On Motion Control Algorithm Of Driverless Mine Electric Locomotive

Mine electric locomotive plays an important role in the transportation of dregs in tunnels.With the development of communication technology and intelligent equipment,the application of driverless technology in the driving of mine electric locomotive has become possible.Among them,automatic train operation system controls the traction and braking of mine electric locomotive,which directly affects the safety,speed,and parking accuracy of the operation.Therefore,the study of excellent motion control algorithms can not only improve the operating efficiency of mine electric locomotive,but also avoid collisions with shield machines.The running performance of mine electric locomotive mainly depends on the target speed curve and motion control algorithm.Taking speediness,parking accuracy and stability as indexes,combined with the traction characteristics of mine electric locomotive,constraints and operation strategies in operation,the acceleration and deceleration points and acceleration and deceleration curves are planned,and the target speed curve is obtained by MATLAB software simulation.Dynamic matrix control is an incremental control algorithm based on the unit step response of the controlled object.It includes three parts: predictive model,rolling optimization and feedback correction.Firstly,the output of the controlled object in the future is predicted in advance by using the model prediction method,and then the optimal control quantity is calculated according to the optimization principle.Finally,the predicted output is corrected online according to the deviation between the actual output and the predicted output to reduce the output deviation in the future.The control principle of dynamic matrix control is similar to the driver’s driving mode.In order to compare the control performance of different algorithms,a fuzzy PID control method with better control effect is introduced.Fuzzy PID control uses fuzzy rules to optimize the parameters of PID control in real time,which improves the robustness and accuracy of the control system.The motion simulation system of mine electric locomotive is designed by using Simulink module,which includes input module,controller module,mine electric locomotive module and data acquisition module.The system is used to track the target speed curve.The simulation time depends on the running distance and speed of mine electric locomotive.In the process of simulation,the changes of distance,speed,acceleration and longitudinal impact rate with time are collected.The speed-distance curve,longitudinal impact rate-distance curve and distance-time curve are compared according to the motion evaluation index of mine electric locomotive.The simulation results show that the actual running speed of fuzzy PID control and dynamic matrix control does not exceed the speed limit,which ensures the safety of mine electric locomotive.However,fuzzy PID control has obvious overshoot in the speed adjustment stage of mine electric locomotive.Mine electric locomotive controlled by the dynamic matrix has shorter running time and reaches the destination earlier.In terms of parking error,mine electric locomotive controlled by the dynamic matrix has a smaller parking error and stops before reaching the parking point.In the aspect of longitudinal impact rate,dynamic matrix control has smaller longitudinal impact rate.Therefore,the two control algorithms can ensure the safe running of mine electric locomotive,and dynamic matrix controller can better track the target speed curve,which improves the speed,stability and parking accuracy of operation.