Research on Lateral Nonlinear Model Predictive Control of Transportation Vehicles in Open-pit Mines
Operating environment of open-pit mine transportation vehicles is complex and requirements for lateral tracking controllers are high. In this paper, a lateral nonlinear model predictive control (NMPC) strategy is proposed for the phenomenon that lateral error and yaw angle error of open-pit mine tra...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Control and Information Technology
2022-10-01
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| Series: | Kongzhi Yu Xinxi Jishu |
| Subjects: | |
| Online Access: | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2022.05.005 |
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| _version_ | 1849224957427449856 |
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| author | WANG Bin YUAN Xiwen ZHANG Qian HU Yunqing LI Cheng |
| author_facet | WANG Bin YUAN Xiwen ZHANG Qian HU Yunqing LI Cheng |
| author_sort | WANG Bin |
| collection | DOAJ |
| description | Operating environment of open-pit mine transportation vehicles is complex and requirements for lateral tracking controllers are high. In this paper, a lateral nonlinear model predictive control (NMPC) strategy is proposed for the phenomenon that lateral error and yaw angle error of open-pit mine transportation vehicles are prone to be large in complex scenarios. Firstly, a lateral kinematics model is established and the model is discretized and the influence of lateral error, yaw angle error and steering angle change rate is considered in the objective function. Then, according to the complex and changeable characteristics of the working conditions, adaptive weight factors of objective function depending on speed are designed. When designing constraints, it considers steering capability constraints of steering gear, including the maximum steering angle,maximum steering angular velocity and steering delay, and establishes a lateral NMPC problem model. Mine transportation vehicles adopting the proposed NMPC control strategy have been tested on high-speed straight line, large-curvature turning line, S-shaped line and reversing line in Shenyan Xiwan open-pit coal mine. The results show that its path tracking accuracy is high, the lateral error is controlled within 0.25 m, and the yaw angle error is controlled within 4°, which verifies the effectiveness of the control strategy. |
| format | Article |
| id | doaj-art-79822a0ae686470891d0a5aaa9f8ba69 |
| institution | Kabale University |
| issn | 2096-5427 |
| language | zho |
| publishDate | 2022-10-01 |
| publisher | Editorial Office of Control and Information Technology |
| record_format | Article |
| series | Kongzhi Yu Xinxi Jishu |
| spelling | doaj-art-79822a0ae686470891d0a5aaa9f8ba692025-08-25T06:49:00ZzhoEditorial Office of Control and Information TechnologyKongzhi Yu Xinxi Jishu2096-54272022-10-01303732309909Research on Lateral Nonlinear Model Predictive Control of Transportation Vehicles in Open-pit MinesWANG BinYUAN XiwenZHANG QianHU YunqingLI ChengOperating environment of open-pit mine transportation vehicles is complex and requirements for lateral tracking controllers are high. In this paper, a lateral nonlinear model predictive control (NMPC) strategy is proposed for the phenomenon that lateral error and yaw angle error of open-pit mine transportation vehicles are prone to be large in complex scenarios. Firstly, a lateral kinematics model is established and the model is discretized and the influence of lateral error, yaw angle error and steering angle change rate is considered in the objective function. Then, according to the complex and changeable characteristics of the working conditions, adaptive weight factors of objective function depending on speed are designed. When designing constraints, it considers steering capability constraints of steering gear, including the maximum steering angle,maximum steering angular velocity and steering delay, and establishes a lateral NMPC problem model. Mine transportation vehicles adopting the proposed NMPC control strategy have been tested on high-speed straight line, large-curvature turning line, S-shaped line and reversing line in Shenyan Xiwan open-pit coal mine. The results show that its path tracking accuracy is high, the lateral error is controlled within 0.25 m, and the yaw angle error is controlled within 4°, which verifies the effectiveness of the control strategy.http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2022.05.005mine transportation vehicleNMPC(nonlinear model predictive control)adaptive weight factorsteering delaylateral error |
| spellingShingle | WANG Bin YUAN Xiwen ZHANG Qian HU Yunqing LI Cheng Research on Lateral Nonlinear Model Predictive Control of Transportation Vehicles in Open-pit Mines Kongzhi Yu Xinxi Jishu mine transportation vehicle NMPC(nonlinear model predictive control) adaptive weight factor steering delay lateral error |
| title | Research on Lateral Nonlinear Model Predictive Control of Transportation Vehicles in Open-pit Mines |
| title_full | Research on Lateral Nonlinear Model Predictive Control of Transportation Vehicles in Open-pit Mines |
| title_fullStr | Research on Lateral Nonlinear Model Predictive Control of Transportation Vehicles in Open-pit Mines |
| title_full_unstemmed | Research on Lateral Nonlinear Model Predictive Control of Transportation Vehicles in Open-pit Mines |
| title_short | Research on Lateral Nonlinear Model Predictive Control of Transportation Vehicles in Open-pit Mines |
| title_sort | research on lateral nonlinear model predictive control of transportation vehicles in open pit mines |
| topic | mine transportation vehicle NMPC(nonlinear model predictive control) adaptive weight factor steering delay lateral error |
| url | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2022.05.005 |
| work_keys_str_mv | AT wangbin researchonlateralnonlinearmodelpredictivecontroloftransportationvehiclesinopenpitmines AT yuanxiwen researchonlateralnonlinearmodelpredictivecontroloftransportationvehiclesinopenpitmines AT zhangqian researchonlateralnonlinearmodelpredictivecontroloftransportationvehiclesinopenpitmines AT huyunqing researchonlateralnonlinearmodelpredictivecontroloftransportationvehiclesinopenpitmines AT licheng researchonlateralnonlinearmodelpredictivecontroloftransportationvehiclesinopenpitmines |