Optimization design of unmanned mining truck path tracking controller based on road adhesion coefficient estimation

Abstract

In response to the issues of inaccurate tracking precision caused by continuous turning and variable road adhesion coefficients on complex roads in mining areas for unmanned mining trucks, this paper adopts unscented Kalman filter (UKF) to estimate the road adhesion coefficient. Based on this, an adaptive preview feedforward linear quadratic regulator (LQR) control algorithm is designed using genetic algorithm, feedforward control, and linear quadratic optimal path tracking control methods. Firstly, a nine degree of freedom vehicle dynamics model and a two degree of freedom vehicle lateral dynamics model are established, and the Dugoff model to calculate tire forces is introduced; secondly, utilizing UKF to estimate the road adhesion coefficient, and leveraging active disturbance rejection control for rapid tracking of road curvature, an optimized design of the LQR controller is carried out. Then, the effectiveness of the designed controller was verified through Trucksim/Simulink joint simulation testing. Finally, the hardware in the loop test results showed that the designed controller had good tracking accuracy and strong adaptability in complex road and special working conditions in mining areas.