Sliding mode control for longitudinal motion of underground mining electric vehicles

Wenjie Ye, W. Shen, Jinchuan Zheng, D. Honnery, D. Dayawansa
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Abstract

Nowadays, zero-emission electric vehicles (EVs) become more and more attractive personnel transport vehicles for mining industry. However, underground mining electric vehicles (UMEVs) require more stable, reliable and robust vehicle system compared with traditional EVs due to their special working conditions and the complex road conditions. Thus, a proper controller needs to be designed. This paper first presents the modeling of an UMEV for both acceleration and braking. Then, the controller based on the sliding mode control (SMC) is designed to track the longitudinal velocity and keep the longitudinal slip ratio in a desired stable region in the presence of the bounded system uncertainties. The comparison of the simulation results for both the proposed SMC controller and a traditional PID controller shows that the proposed SMC controller has a better performance for the long-distance up/down slopes with varying rolling resistance coefficients.
井下矿用电动车纵向运动的滑模控制
目前,零排放电动汽车越来越成为矿山行业具有吸引力的人员运输工具。然而,由于井下矿用电动汽车的特殊工况和复杂路况,与传统电动汽车相比,井下矿用电动汽车对整车系统的稳定性、可靠性和鲁棒性要求更高。因此,需要设计一个合适的控制器。本文首先介绍了UMEV的加速和制动建模。然后,设计了基于滑模控制(SMC)的控制器,在系统存在有界不确定性的情况下,跟踪纵向速度并使纵向滑移率保持在期望的稳定区域内。通过与传统PID控制器的仿真结果比较,表明所提出的SMC控制器对具有不同滚动阻力系数的长距离上下斜坡具有更好的控制性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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