无人驾驶运矿车车速控制算法研究
Research on Speed Control Algorithm of Unmanned Electric Mine Truck Authors
针对电动轮矿卡的速度控制系统存在大带后、非线性度高、建模困难等问题，提出一种基于模糊控制的 速度控制算法。综合考虑速度的跟随性能和控制量的平顺性，并对期望车速、道路坡度、油门踏板控制量等进 行平顺化。所提出的算法应用于无人驾驶的电动轮矿卡。通过实车无人驾驶测试表明，所提出的算法能够有效 的对无人驾驶电动轮矿卡的车速进行控制。
There are many problems for the speed control system of electric mine truck, such as large lag high nonlinearity, modeling difficulties and so on. So a speed control algorithm based on fuzzy control is proposed. The algorithm considers both the speed following performance and the smoothness of the control, and the desired speed, the road slop, the control of accelerator pedal are smoothed. The algorithm is applied to the unmanned electric mine truck. The real truck tests show that: the proposed algorithm can effectively control the speed of the unmanned electric mine truck.
霍光;刘秀梅;范洋洋;
内蒙古包头钢铁（集团）有限责任公司 内蒙古 包头 014080;内蒙古包头钢铁（集团）有限责任公司 内蒙古 包头 014080;内蒙古包头钢铁（集团）有限责任公司 内蒙古 包头 014080;
unmanned driving electric mine truck speed control fuzzy control smoothness
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