露天矿无人矿用卡车横纵向控制模型研究

doi:10. 11799/ ce202508028

煤炭工程 ›› 2025, Vol. 57 ›› Issue (8): 211-217.doi: 10. 11799/ ce202508028

露天矿无人矿用卡车横纵向控制模型研究

徐钟馗，师彰文，丁震

1. 国能准能集团有限责任公司黑岱沟露天煤矿，内蒙古鄂尔多斯 010300
2. 中国矿业大学（北京）机械与电气工程学院，北京 100083
3. 国家能源集团公司煤炭与运输产业管理部，北京 100013

收稿日期:2025-03-19 修回日期:2025-05-20 出版日期:2025-08-11 发布日期:2025-09-11
通讯作者: 师彰文 E-mail:19855358232@163.com

Research on lateral and longitudinal control models for unmanned mining trucks in open-pit mines

Received:2025-03-19 Revised:2025-05-20 Online:2025-08-11 Published:2025-09-11

摘要/Abstract

摘要：

针对矿用卡车在复杂工况下路径跟踪精度和稳定性较差的问题，提出了一种基于反馈纯跟踪算法和MPC算法的横纵向分层控制方法。该控制方法中：横向控制采用反馈纯跟踪算法，采用动态预瞄距离，通过横向偏差反馈补偿转角，对矿用卡车的转角进行跟踪控制；纵向控制采用MPC算法设计的分层控制器，实现对矿用卡车纵向速度的调节。通过矿山无人运输仿真系统进行模拟实验，结果表明：矿用卡车最大横向误差控制在0.29m以内，航向误差控制在2.7°以内。

关键词:

无人矿用卡车 , 横向运动控制 , 纵向速度控制 , 路径跟踪 , 无人驾驶

Abstract: This paper proposes a horizontal and vertical layered control method based on feedback pure tracking algorithm and MPC algorithm to address the problem of poor path tracking accuracy and stability of mining trucks under complex working conditions. Horizontal control adopts feedback pure tracking algorithm, uses dynamic preview distance, compensates for steering angle through lateral deviation feedback, and tracks and controls the steering angle of the mining truck; Vertical control adopts a layered controller designed with MPC algorithm to achieve control of the longitudinal speed of the mining truck. The simulation experiment was conducted using a mine unmanned transportation simulation system, and the results showed that the maximum lateral error was controlled within 0.35 m and the heading error was controlled within 2 °．

中图分类号:

TD57

徐钟馗, 师彰文, 丁震. 露天矿无人矿用卡车横纵向控制模型研究[J]. 煤炭工程, 2025, 57(8): 211-217.

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露天矿无人矿用卡车横纵向控制模型研究

Research on lateral and longitudinal control models for unmanned mining trucks in open-pit mines

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