A method for correcting the trajectory of unmanned mining vehicles under PLC technology mode
The geological structure of the mining area is unique,and the road conditions are complex.Unmanned mining vehicles may encounter road undulations and bumps during operation.And these uneven road conditions will have an impact on the suspension system of the vehicle,leading to changes in the lateral and longitudinal acceleration of the vehicle.Trajectory control cannot cope with the nonlinear behavior of the vehicle,resulting in trajectory deviation.The control strategy with preset parameters or conditions is in-sufficient to cope with actual road conditions and disturbances,resulting in more severe trajectory deviation.To solve this problem,this article mathematically describes the driving trajectory of unmanned mining vehicles based on dynamic theory,and determines the influencing factors such as pose and angle that cause trajectory deviation.Using association rules to optimize the turning angle and cal-culate the control gain coefficient of mining vehicle operation;Obtain the actual and expected attitude of the unmanned mining vehicle through real-time data provided by sensors.Calculate the angle deviation by comparing the difference between the actual posture and the expected posture.Using the PLC system and reference values for angle control gain,calculate the angular velocity that needs to be adjusted.Construct a nonlinear sliding film switching function for PLC,based on the exponential convergence law,use the trajectory deviation influence factor as the correction variable,and calculate the difference between the driving direction and angle direction of the trajectory under the rule.By adjusting the difference through the sliding film controller,the unmanned mining vehicle gradually approaches the desired attitude.Considering the influence of environmental parameters,the angle deviation between the actual trajec-tory and the expected trajectory is compensated by adjusting the acceleration value,and trajectory correction differential control is car-ried out under different road conditions.Experimental data shows that the proposed method has high control accuracy and can achieve efficient control even in complex working conditions.
PLC technologyunmanned mining vehiclesoperation trajectory correction controlgain coefficientrule of expo-nential convergence law
万方数据
维普
