Jin Chun

Differential Control Strategy based on an Equal Slip Rate for an All - wheel Electric - drive Underground Articulated Dumping Truck

A differential control strategy based on equal slip rates is introduced to improve the steering stability of an all-wheelelectric-drive underground articulated dumping truck. Steering kinematic and dynamic models of the truck are derived to describe the movement relationship and force of the driving wheels. In consideration of the difficulty of obtaining the absolute velocity for an all-wheel-drive truck, an acceleration sensor was set on a test truck, and a kalman filter was applied to obtain the actual value for the truck body. Simulation results for an equal-slip control strategy were compared with experimental results for an equal-torque control strategy. In the simulation, the four-wheel slip rate was 0.08 and the steering system of the truck was stable. The results verify that the equal-slip control strategy makes better use of the ground adhesion coefficient, is able to reasonably distribute drive power, notably reduces tire wear, and improves the use of driving power.

Co-simulation analysis of zero radius steering characteristics of articulated vehicle with six motor-driven wheels

The utilization of motor-in-wheel in the articulated vehicle is a very important research trend. It has high transmission efficiency and flexible space layout. However, it has complicated behavior for its unique structure. Based on co-simulation technology, kinematics and dynamic characteristics of zero radius steering of articulated vehicle are investigated in this paper. The rotary valve hydraulic power steering system is modeled in Amesim, and the virtual prototype of articulated vehicle is built in ADAMS. The acting force of hydraulic steering cylinder is achieved by synchronous communication between the Amesim and ADAMS software. The accurate articulated angle between the front and rear body is measured, and the lateral forces and longitudinal forces of each wheel are presented while the articulated vehicle in the steering process. The simulation results show that the middle two wheels of articulated vehicle with 3-axle, 6-wheel have different behaviors. The steering behavior of the articulated vehicle can be presented and analyzed precisely. It is helpful for drawing up the control strategy of the articulated vehicle with motor-driven wheels.

Slip ratio control for articulated dump truck based on fuzzy sliding mode

A simplified model (mono-track vehicle) of ADT is built and a fuzzy dynamic sliding mode control method is used for tracking of the ADT during slippage of its wheels without braking. By regulating the switching surface parameters with fuzzy logic method in real time, the proposed controller can track a reference input wheel slip in a short time. A simulation model generated by MATLAB/Simulink is used to perform a maneuvering study. The different working conditions of ADT with different profiles are discussed. It is proved by simulation results that the proposed controller can adjust the driving torque of all wheels in real time to control the vehicle motion on different terrains. It is also proved that this method is robustness and effectiveness.