Differential Control Strategy Research of Wheeled Electric Drive ADT Mining Truck

Huilai Sun, Pengbo Liu, Yong Wang, Yuanyuan Song, Zeying Li, Guoming Yao

2019

Abstract

Aiming at the special structure and steering characteristic of wheeled electric-driven articulated underground mining truck, a differential control strategy which takes the equal slip rate as control target was given. The kinematic and dynamic model of electric-driven mining ADT was established and the movement relationship and stress condition of the driving wheels were analyzed during steering. Acceleration sensors in the sample ADT were used to test the actual speed of the vehicle. Results show that the filtered signal has small delay and fast response and can be directly used to estimate the speed. Equal slip rate control strategy is superior to equal torque control strategy because it can make full use of the ground adhesion coefficient and reach reasonable distribution of drive power. Two sides wheel slip rate can be stable -0.08 and sliping situation is avoided in experimental turning. This control strategy has practical effect for reducing tire wear and improving driving power utilization.

Paper Citation

in Harvard Style

Sun H., Liu P., Wang Y., Song Y., Li Z. and Yao G. (2019). Differential Control Strategy Research of Wheeled Electric Drive ADT Mining Truck.In Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering - Volume 1: ICVMEE, ISBN 978-989-758-412-1, pages 70-77. DOI: 10.5220/0008868300700077

in Bibtex Style

@conference{icvmee19,
author={Huilai Sun and Pengbo Liu and Yong Wang and Yuanyuan Song and Zeying Li and Guoming Yao},
title={Differential Control Strategy Research of Wheeled Electric Drive ADT Mining Truck},
booktitle={Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering - Volume 1: ICVMEE,},
year={2019},
pages={70-77},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008868300700077},
isbn={978-989-758-412-1},
}

in EndNote Style

TY - CONF

JO - Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering - Volume 1: ICVMEE,
TI - Differential Control Strategy Research of Wheeled Electric Drive ADT Mining Truck
SN - 978-989-758-412-1
AU - Sun H.
AU - Liu P.
AU - Wang Y.
AU - Song Y.
AU - Li Z.
AU - Yao G.
PY - 2019
SP - 70
EP - 77
DO - 10.5220/0008868300700077