随着智能化、自动化技术的快速发展,无人驾驶自卸车在露天矿作业中的应用已成为行业革新的重要趋势。根据无人驾驶自卸车的运动学及动力学模型,结合滑模变结构控制理论,设计无人驾驶自卸车轨迹跟踪控制器,并对所设计的控制器进行了稳定性分析;最后使用Matlab软件对所设计控制器的有效性进行仿真验证,经仿真验证,控制器能够实现稳定控制其轨迹跟踪误差。

With the rapid development of intelligent and automated technology, the application of unmanneddump trucks in open-pit mining operations has become an important trend in industry innovation. Based on thekinematic and dynamic models of unmanned dump trucks, combined with sliding mode variable structure controltheory, a trajectory tracking controller for unmanned dump trucks was designed, and stability analysis wasconducted on the designed controller. Finally, Matlab software was used to simulate and verify the effectiveness ofthe designed controller. Through simulation verification, the controller can achieve stable control of its trajectorytracking error.