Slip ratio control for articulated dump truck based on fuzzy sliding mode

摘要

A simplified model (mono-track vehicle) of ADT is built and a fuzzy dynamic sliding mode control method is used for tracking of the ADT during slippage of its wheels without braking. By regulating the switching surface parameters with fuzzy logic method in real time, the proposed controller can track a reference input wheel slip in a short time. A simulation model generated by MATLAB/Simulink is used to perform a maneuvering study. The different working conditions of ADT with different profiles are discussed. It is proved by simulation results that the proposed controller can adjust the driving torque of all wheels in real time to control the vehicle motion on different terrains. It is also proved that this method is robustness and effectiveness.