Abstract
Owing to the harsh environment of underground mines, autonomous underground articulated vehicles (UAVs) with precise control and positioning system are particularly important. However, the ambiguity of steering characteristics hinders the development of UAVs. This study presents a model-based method to uncover the steering characteristics of a UAV. Firstly, a hybrid model of UAV was established, which included a dynamic model of articulated frames and a model of the hydraulic power steering system. Secondly, a field test of a typical UAV, a load-haul-dump (LHD) with 4 m3 capacity, was carried out. In order to verify the correctness of the established model and the accuracy of the involved parameters, the field test results were used to verify the dynamic model in time and frequency domains. Then, the steering characteristics of the UAV were uncovered based on the verified hybrid model, and the results showed that the increased load would increase ‘oversteering’ under the same articulation angle and that the error of trajectory exceeded 0.3 m. In addition, the deviations of trajectories between the two frames were revealed during the transient steering process, and the maximum deviation reached 0.21 m when the velocity was 2 m/s and the articulation angle was 15°. The comprehensive results indicate that the steering characteristics of UAVs cannot be ignored in regard to precise autonomous control and positioning.
Highlights
With excellent maneuverability and efficiency, underground articulated vehicles (UAVs) are widely used in the processes of drilling, transportation, supporting and charging, which are of decisive significance to the production of underground mines [1,2,3]
Some shortcomings remain to be addressed; for instance, dynamic models have been greatly simplified for the control and analysis of UAV, e.g., the hydraulic power steering system has been separated from the dynamic model of the frames or even ignored
Substantial results and contributions canwere be summarized paper, thehybrid steering characteristics of UAVs and the effects on trajectories uncovered as follows
Summary
With excellent maneuverability and efficiency, underground articulated vehicles (UAVs) are widely used in the processes of drilling, transportation, supporting and charging, which are of decisive significance to the production of underground mines [1,2,3]. Strategies were designed to control lateral motion or improve the accuracy of path following These achievements greatly improve the stability and control accuracy of UAVs. some shortcomings remain to be addressed; for instance, dynamic models have been greatly simplified for the control and analysis of UAV, e.g., the hydraulic power steering system has been separated from the dynamic model of the frames or even ignored. The trajectories are different in the transient process of steering, and the process would be different under different working conditions Motivated by these shortcomings, we attempt to analyze the steering characteristics based on a hybrid model to uncover the relationship between dynamic steering and the response of frames.
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