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结合车辆的前后轮反向转动差速转向模型,提出了一种基于阿克曼转向和神经网络相结合的差速转向控制策略。利用矿用电动车的内外侧车轮转速进行仿真验证和控制研究,通过仿真验证结果表明:该控制算法能够使矿用电动车辆在露天矿山复杂、恶劣的环境要求下获得较小的转向半径,对车辆的紧急避障等性能的实现有一定的辅助作用,特别适合中、低速的矿用电动车辆的差速转向控制。
Combined with the reverse steering differential steering model of front and rear wheels of a vehicle, a differential steering control strategy based on Ackerman steering and neural network is proposed. Simulation and verification of the internal and external wheel speed of mining electric vehicle are carried out. The simulation results show that the control algorithm can make the mining electric vehicle obtain the smaller turning radius under the complicated and harsh environment requirements of the open pit mine. Emergency vehicles and other obstacles to achieve the performance of certain auxiliary role, especially for medium and low speed of the mine electric vehicle differential steering control.