| 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 simulate experiment, architecture of ULHD control system, remote control system. And introduces the existing controling system of coal loader the feature, application, development and research status.Combined with the fieldbus communication technology and intelligent control theory, the fuzzy theory is applied to the control device of loader, and a set of loader based on CAN bus remote control system. In the remote control instruction complete automated driving function is the core content of the remote control vehicle research, this paper introduces the caterpillar remote control vehicle automated driving control system composition, working principle and realization of function. This system not only has the good function of automatic pilot, and can be easily implement remote control and manned mode of between fast converting to meet the needs of different vehicles working environment.The position controller of the manipulators is designed by using the self-adaptation fuzzy PID method, and the mathematical model of the loader hydraulic control system has been simulated and analyzed in the theme under the Matlab/Simulink environment. |
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