无轨胶轮车井下无人驾驶系统设计及控制策略研究

Design and control strategy of underground driverless system for trackless rubber tire vehicle

无人驾驶具有自动、高效和准确度高等特点,经过多年发展已日趋成熟,且已在不少地面车辆上开始应用,将是无轨胶轮车在井下实现高效、安全、智能运输的重要解决方案之一。结合地面无人驾驶技术与煤矿井下巷道实际情况,设计了一种蓄电池无轨胶轮车的井下无人驾驶系统,并重点对其无人驾驶控制策略进行了仿真研究。首先,基于WLR-9型矿用蓄电池无轨胶轮车,通过合理选用传感器组成感知系统,并对车辆的控制系统与执行系统进行改造,设计了无轨胶轮车无人驾驶系统;其次,采用多传感器融合方式解决无轨胶轮车在井下巷道内行驶时遇到的循迹和避障难题,基于模型预测的路径规划算法设计了无人驾驶系统的控制策略;最后,联合CarSim与Simulink建立了无人驾驶系统仿真模型,通过仿真从理论上验证无轨胶轮车无人驾驶系统设计的合理性。仿真结果表明,无人驾驶系统在25 km/h车速下轨迹跟踪的最大瞬时偏移量仅为7.8 cm,循迹效果良好;能够对障碍物及时作出反应,避开障碍物并重新规划新路径,生成的路径较为平滑且连续性好,避障过程中未发生打滑失控现象;能够及时识别对向车辆并提前减速制动,在根据井下会车规则判别出避车后,可迅速规划出新路径并进入躲避硐室内避车,至对向车辆离去后驶出躲避硐回到预定轨迹继续行驶,能够反映出无轨胶轮车无人驾驶系统控制策略的稳定性与可行性。

Because of the characteristics of automatic,high efficiency and high accuracy,the driverless technology has become increasingly mature and begun to be applied on many ground vehicles after years of development.Therefore,it may be one of the most important solutions for efficient,safe and intelligent transportation of trackless rubber tyred vehicles(TRTVs)in underground mines.Based on the ground driverless technology and the actual situation of underground mine roadway,this study has developed a driverless system of underground battery TRTV,and investigated intensively on the simulation of its driverless control strategy.Firstly,by selecting sensors to form a sensing system,and transforming the vehicle’s control system and execution system,a driverless system of TRTV based on WLR-9 type mining battery vehicle was designed.Secondly,based on multi-sensor fusion method,the tracking and obstacle avoidance problems of TRTV encountered when driving inside underground roadway was resolved.Thirdly,the control strategy of the driverless system was designed by a model-predicted path planning algorithm.Finally,a simulation model of the driverless system was established by jointing of CarSim and Simulink software,to verify theoretically the rationality of the designed driverless system for TRTV.The simulation results show that the maximum instantaneous deviation of the trajectory tracking of the driverless system is only 7.8 cm at 25 km/h,which indicates that the tracking effect is good.It can react to obstacle in time to avoid it and re-plan a new smooth and continuous path immediately.In addition,there is no slip out of control in the process of avoiding obstacles.The model can also identify the opposite vehicle in time,and decelerate to brake in advance.After identifying the dodge according to the underground meeting rules,it can plan a new path and enter the evasion squat to avoid the opposite vehicle quickly.Only when the opposite vehicle leaves,it will drive out of the evasion squat and return to the predetermined path to continue its driving,which reflects the stability and feasibility of the control strategy of the driverless system for TRTV.