Simulation of Automated Dump Trucks for Large Scale Surface Mining Operations

Frimpong, Samuel; Changirwa, R.; Szymański, J.

doi:10.1076/ijsm.17.3.183.14770

Cited by 6 publications

(1 citation statement)

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“…One is to use the modeling software to establish the rigid-flexible coupled virtual prototype model or directly use the actual prototype to test the vehicle on a special bracket, the second is to use mathematical modeling and calculation methods for research (Baryshnikov (2018) complex test benches, while the latter requires the creation of complex mathematical models of trucks. Baryshnikov (2018) used mathematical modeling method to derive the dynamic model of the rigid dump truck lifting operation on the longitudinal slope, and studied the lifting stability, and the work in Frimponq et al (2003) created the robotization and stability control (RASC) model of the mining dump truck, and analyzed the stability of the whole vehicle through simulation. In addition, the stability problems of the dump truck under different lifting conditions by establishing a virtual prototype model were studied in Li et al (2017a, b), Jiang et al (2011) and (2012).…”

Section: Introductionmentioning

confidence: 99%

Anti-Rollover Warning Control of Dump Truck Lifting Operation Based on Active Suspension

Guan

Gong

et al. 2020

J Control Autom Electr Syst

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The flexible parts of the dump truck such as the suspension, tires and cargo box can affect the roll stability of the vehicle during the lifting process. In order to improve the adverse effects of these flexible parts on the roll stability of the dump truck during lifting, and to prevent the vehicle from rolling over, this paper proposes an anti-rollover warning control method based on active suspension. The nonlinear model of the lift and roll of the dump truck is established by considering the influence of elastic deformation of the tire, suspension, and torsional deformation of the cargo box on the roll of the vehicle, and dynamic characteristics of the nonlinear model are verified in the MATLAB/Simulink simulation environment. A fuzzy-PID controller is designed to make decisions on the active suspension control force as well as the ratio of the vertical load of the non-bearing wheel to the total weight of the vehicle is used as the rollover evaluation index to realize the rollover warning. Furthermore, the improvement effect of the control system is analyzed from the aspects of rollover evaluation index, roll angle and critical lifting angle. Finally, the simulation results show that the proposed method effectively improves the roll stability of the dump truck during the lifting operation and can widen the threshold range of the critical lift angle to a certain extent and prevent the vehicle from rolling over.

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Section: Introductionmentioning

confidence: 99%