Intelligent Control Strategy Based On Remote-controlled Underground Scrapers Traveling

With the development of computer technology, the improvement of engineering equipment automation degree and the requirement of humanization in engineering construction, the demanding of the intelligent devices has increased a lot. Automation technology and intelligent technique are especially important in dangerous places such as underground mines, construct of metro tunnel and engineering blasting. Through the research of driving intelligent control strategy of Underground Load-Haul-Dump(ULHD), the test precision of the working environment and the response speed to the environment has greatly improved. At the same time, the action of the ULHD becomes controllable through the operate of the control strategy. Basing on the research of remote control of ULHD, intelligent alteration and driving intelligent control strategy, the article researches on and concludes the driving control strategy and simulate experiment , architecture of ULHD control system, remote control system, orientation and anticollision technology.First, the article introduces the background of ULHD, the development in the home and abroad, and the key technologies it involves. At the same time, it has a summary of the work the writer has done.Fuzzy set theory and fuzzy control principle are studied in the article in order to realize the intelligent control strategy of ULHD.According to the research of intelligent vehicle control architecture, the article has researched and analyzed the architecture of ULHD and suggest a syntactic model of LHD's intelligent control. At the same time, remote control system and video monitor system have been studied and designed, and some experiment tests have been completed.The work environment of ULHD makes the study of the ULHD orientation and anticollision technology be the foundation of the realization of ULHD driving intelligent control. The orientation and anticollision technology is studied in the article, and the realization of orientation and ultrasonic anticollision technology are also been introduced. Based on the study and research of fuzzy set theory and fuzzy control principle and set ULHD at operating status as research object, the article adopts the control strategy based on fuzzy control to realize the auto-drive of ULHD. A dual inputs and dual outputs fuzzy controller is designed through the research of road condition and driving safety index of ULHD. The ULHD driving intelligent control algorithm is simulated by MATLAB, and get the result under the control of ULHD driving intelligent control algorithm according to practical situation. The algorithm is proved to be reliable and precise.In the end, the article summarizes of the work, discusses the shortage and development points, and give the final conclusion.