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首页> 外文会议>World Multiconference on Systemics, Cybernetics and Informatics and 5th International Conference on Information Systems Analysis and Synthesis Vol.7: Industrial Systems, Jul 31-Aug 4, 1999, Orlando, Florida >Mining Truck Automation, Simulation and Robotization
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Mining Truck Automation, Simulation and Robotization

机译：矿用卡车的自动化，仿真和机器人化

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摘要

Automation and simulation of mining trucks present fundamental challenges in terms of off-highway dynamics. These challenges must incorporate intelligence and autonomy for operation in a harsh and dynamically changing environment as production faces advance periodically. The basis for this scenario is the construction of tyre and steering models. This project attempts to scrutinize the capture of controllability and stability of a mining truck through the establishment of transfer functions in order gain its harmonic system dynamic behavior, being the fundamental principles behind automation and intelligence. A simulation system has been developed using TRUX, FORTRAN-based program, to facilitate the analysis of vehicle dynamics control systems of a two-axle truck. It has the capability of simulating the various motions of a truck, using a customed vehicle model. The paper also discusses automation and robotization of the truck. Transfer functions of the front wheel, yaw rate and roll angle performed with respect to steering wheel angle yielded a good indication of automation. Simulated results compared well with test data with a significant peak ratio deviation in the first 5 seconds. Perturbations were observed in 5-20 sec range and beyond this, stabilization occurred.
机译：矿用卡车的自动化和仿真提出了非公路动力学方面的基本挑战。随着生产面的周期性发展，这些挑战必须融合智能和自主权，以便在恶劣且动态变化的环境中运行。此方案的基础是轮胎和转向模型的构造。该项目试图通过建立传递函数来检查矿用卡车的可控性和稳定性，以获取其谐波系统的动态行为，这是自动化和智能背后的基本原理。已经使用基于FORTRAN的TRUX程序开发了一个仿真系统，以方便分析两轴卡车的车辆动力学控制系统。它具有使用定制的车辆模型来模拟卡车的各种运动的能力。本文还讨论了卡车的自动化和机器人化。前轮的传递函数，相对于方向盘角的偏航率和侧倾角产生了很好的自动化指示。模拟结果与测试数据进行了很好的比较，在最初的5秒钟内峰值比率存在明显的偏差。在5到20秒的范围内观察到扰动，超过此范围，出现稳定现象。

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