Study On Control Strategy Of Autonomous Mining Truck Brake-by-Wire System

Mining industry is the foundation and pillar industry of China’s national economy,mine wisdom is an important trend in the current development of mining industry,and autonomous mining truck gradually becomes an important part of wisdom mine.To realize the driverless technology of mining truck,the wire control of chassis is a prerequisite,among which the brake-by-wire system is one of the most critical technologies of chassis-by-wire.This thesis takes a model of conventional fuel-fired mining truck equipped with an unmanned driving system as the research object,focuses on the compound braking system deceleration distribution,and aims to reduce the frequency of pneumatic braking system participation in braking.The main researches are as follows:Firstly,the autonomous mining truck brake-by-wire system is analyzed to determine its composition structure and control method.At the same time,the mechanical structure,working principle and theoretical braking performance of each braking device of the brake-by-wire system are analyzed.Secondly,through the mine research,according to the actual situation of the mine,the performance test plan of different braking devices is formulated and relevant tests are conducted in the mine.The braking performance of each braking device and the rolling resistance coefficient of the mine road can be obtained by combining the longitudinal dynamic’s theory of the whole vehicle with the test results.Thirdly,the compound control strategy of the autonomous mining truck brake-bywire system is developed.By analyzing the braking characteristics and braking performance of different braking devices,the control method of deceleration logic threshold is used to control continuous braking devices such as exhaust brake and hydraulic retarder;the control method of feedforward and fuzzy PID is used to control travel braking devices such as pneumatic brake.According to the different control methods of different braking devices,a compound control strategy of the autonomous mining truck brake-by-wire system is established.Finally,a compound simulation platform is established to simulate and test the compound control strategy of the autonomous mining truck wire control braking system.By comparing and analyzing the test results,the reliability of the brake-bywire system and the accuracy of the compound control strategy were verified.The brake-by-wire system and the compound control strategy designed in this thesis have strong engineering application value.