The precise parking control experiments and research are conducted using an autonomous mining transport vehicle as the platform.To achieve the desired parking position as accurately as possible,the article first designs a distance-velocity planning scheme.Based on this,the article proposes a feedforward and feedback actuator aperture control algorithm.Additionally,we consider acceleration compensation terms in the low-level control and optimizethe brake switching logic.Subsequently,wecarry out simulation tests and real-world vehicle experiments,and adjustcontrol parameters through the tests,eliminating the need for laborious system parameter identification.The results show that the adoption of a precise docking strategy reduces speed fluctuations caused by disturbances and optimizes the low-level control logic,effectively enhancing parking accuracy.
维普
万方数据