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Differential Control Strategy Research of Wheeled Electric Drive ADT Mining Truck

: Aiming at the special structure and steering characteristic of wheeled electric-driven articulated underground mining truck, a differential control strategy which takes the equal slip rate as control target was given. The kinematic and dynamic model of electric-driven mining ADT was established and the movement relationship and stress condition of the driving wheels were analyzed during steering. Acceleration sensors in the sample ADT were used to test the actual speed of the vehicle. Results show that the filtered signal has small delay and fast response and can be directly used to estimate the speed. Equal slip rate control strategy is superior to equal torque control strategy because it can make full use of the ground adhesion coefficient and reach reasonable distribution of drive power. Two sides wheel slip rate can be stable -0.08 and sliping situation is avoided in experimental turning. This control strategy has practical effect for reducing tire wear and improving driving power utilization.