Study On The Active Steering Control Of TLI90 Type Driverless Mining Dump Truck

With the increasing demand of intelligent transportation in mining areas,the application of X-by-wire technology and unmanned driving technology in mining dump truck is gradually deepening.As the main transportation equipment in the mining area,no matter no-load or heavy-load,the driverless mining dump truck needs to take the transportation route as the planned path,and drive and steer in accordance with the planned path.Therefore,an in-depth study on the active steering control of the driverless mining dump truck,can effectively reduce the deviation in the process of path tracking and ensure the reliability of steering,which is of great significance for achieving unmanned transportation of dump truck group in mining area.In this paper,the TLI90 driverless mining dump truck is taken as the research object,the sliding mode variable structure control theory is used as the basic control method to study the path tracking and steering system control in active steering of mining dump truck.Firstly,on the basis of analyzing the lateral movement and tire cornering characteristics,a two-degree-of-freedom dynamic model of the mining dump truck is established.Through the analysis of composition and working principle of the hydraulic steering system,the control model of the hydraulic steering system is established,the relevant parameters are calculated,and the emergency function of its power part is designed,which improved the fault tolerance ability.Secondly,the path tracking sliding mode controller based on the preview lateral deviation is designed by using the preview following theory and the two-degree-of-freedom dynamics model.At the same time,aiming at the minimum actual lateral deviation produced in the running process of the mining dump truck,the particle swarm optimization algorithm is used to optimize the parameters of the path tracking controller.Thirdly,for the control of hydraulic steering system,the front wheel angle deviation is taken as the sliding surface parameter,and the front wheel angle sliding mode controller is designed.In view of the control requirements of steering system and the steering load generated by the heavy-load condition of mining dump truck,the front wheel angle fuzzy non-singular fast terminal sliding mode controller is designed by applying fuzzy algorithm to the parameters adaptive adjustment of the controller.The control logic of emergency power part of steering system is given.Finally,Trucksim and Simulink software are used to establish a simulation model of the active steering control system of the driverless mining dump truck.The co-simulation of the path tracking controller and the front wheel angle controller designed in this paper is carried out.The effectiveness of the controller and its control parameters is verified by the simulation results.