Study On Transmission Control System Of Electrical Wheels Autonomous Dump Truck Based On ADRC

As one of the highest loading capacity transmission tools, electrical wheels autonomous dump truck has been successfully used to strip mines in millions of tons , huge water conservancy construction projects due to higher efficiency, more capacity ,better economy ,etc. Electric control system is becoming a key assembly and technology in the haul truck. It is one of the chief assembly that directly influence the normal operation of the truck.. So far simple PI control strategy has been applied to the electric control system of the electrical mining haul truck for many years in the world. The whole automotive system efficiency can’t advance because of the lower precise of constant power calibration.The application of Active Disturbance Rejection Control(ADRC) is more and more widen due to special control mind and the best control quality. This paper that applies the ADRC into the control system is for advancing the calibration precision and the anti-disturbance performance. What are been studied are as follows.Firstly, based on the explicite analysis regarding the drving system of the Electrical Wheels Autonomous Dump Truck .The paper adopts the ADRC into the control system of electrical wheels autonomous dump truck for the parameters variety and loading distubance. A designed controller using ADRC is used in the driving control system.Due to the characteristics of the driving system and braking system. A practiced ADRC control is also deisgned in this paper.a resonable simplication in controller is used for the digital realizaiton and engineering calibration.Secondly, a good result of ADRC parameters can be acquired adopted the genetic algorithm(GA) for the many ambiguous parameters calibraition. The driving control system is analysised and the fundamental principle is also introduced.After optmizing the parameters of ADRC optimized by genetic algorithm. the control precision is advanced .The constant power curve can be confirmed in running of the truck. The high efficiency can reduce the engergy comsuption and it is very useful。The simulation results show that the ADRC is satisfied compeletly with the reqirement of the driving control system.It is more better thatn PID using optimzed GA algorithm in anti-diaturbance and robust performance.It make a good choice and a very good prospect in the future.