Differential Control Strategy Based on Hierarchical Control of Electric-Driven Articulated Dump Truck

Abstract

For articulated dump truck driven by six electric wheels, to adopt existing differential control strategies to enhance the dynamic performance is difficult. In order to solve this problem, a differential control strategy is proposed on the basis of the driving force hierarchical control. The control principles of two common differential control strategies such as equal torque control and equal slip ratio control are summarized, respectively. Then, the differential control strategy based driving force hierarchical control is illustrated in detailed. Finally, the virtual prototyping model of the whole truck is constructed through the Adams software, and the co-simulation experiments are performed by combining the Matlab/Simulink control strategy model. The results show that the effectiveness and superiority of the proposed strategy are confirmed through co-simulation experiments.